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| [[Repository | Documents, drawings and software]] | | [[Repository | Documents, drawings and software]] |
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| =Overview of working plan=
| | [[ProjectPlan | Project plan notes]] |
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| === Initial design and simulation ===
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| * Design mechanical solution for wheel turning mechanism
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| * Finish 3D CAD model of initial design
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| * Consider mounting options e.g. brackets and holsters for legs and motors
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| * Design solution for robot moving from 4 wheel balance to standing 2
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| wheel balance
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| * Simulate robot going from 4 wheel balance to standing 2 wheel balance
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| === Simulate manoeuvrability ===
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| * Design environment for climbing stairs
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| * Simulate robot moving up stairs
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| * Consider design changes as a result of stair climbing
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| === Build lower leg ===
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| * Build assembly of wheel construction with turning ability
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| * Connecting DC motor to motor driver and wheel construction
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| * Assembly of lower leg and suspension
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| * Mounting of linear actuators and wiring
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| * write teensy code for lower leg
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| * Test lower leg - from knee down
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| * Revise simulated model and 3D CAD model and adjust accordingly
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| === Build Upper leg ===
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| * Assembly of upper leg
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| * Assembly of robot frame
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| * Wiring and routing wires
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| * Test full leg
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| * Revise simulated model and 3D CAD model and adjust accordingly
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| * Make (final) Bill Of Materials (BOM)
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| === Built ===
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| * Purchase remaining parts
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| * Build 4 wheel robot
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| * Make everything available in RHD with remote control
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| === Test and Tune ===
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| * Decide upon initial design of crane setup to catch and carry the robot
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| around
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| * Build or buy the crane setup
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| * Weight the total robot assembly
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| * Revise simulated model and 3D CAD model and adjust accordingly
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| * Test that robot can be carried around in a safe manner - mobility
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| * Tune the linear actuator controllers such that the robot can balance on
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| 4 wheels
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| * Test loading capacity of robot
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| * Tune the linear actuator controllers such that the robot can move up and
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| down
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| * Tune the DC motor controllers and speed of robot either with mobile
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| crane or running track
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| * Outdoor test of suspension, raise and lower, tilt and wheel positions
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| * Outdoor test of robot driving over uneven terrain
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| * Implement robot to move from 4 wheel balancing to 2 wheel balancing
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| * Implement the robot to move up stairs
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