Andrew Ige’s Individual Report
| Date: November 28, 2006 |
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Table of Contents |
| Author: | Team: SMA Array Controls (Robot Hand Controls) |
Problem Statement:
The goal of the team was to create a muscle displacement sensing system for Dr. Mascaro’s SMA muscle array this semester. The sensing system was to be able to accurately report the magnitude of displacement of any muscle in the 4×4 muscle array.
Summary of Approach:
The team approached the problem by first defining the customer requirements with the primary customer, Dr. Mascaro.
Brainstorming sessions were then held to come up with ideas and several concepts were generated. The primary concepts included linear encoders, rotary encoders, analog optical sensing, Piezo-resistive materials, and linear potentiometers.
There was a QFD matrix completed to downselect to analog optical sensing, and various mounting designs were refined.
Summary of Results:
By completing a secondary QFD matrix the final design was decided to be the analog optical sensing with a cross-slat mount. Cliff came up with a good improvement to the mounting system with the idea of replacing the cross-slats with wires that ‘plug’ into the forward slats, so the cross-slats were eliminated. A critical function prototype (CFP) of this design was manufactured and tested.
Lessons Learned:
After manufacturing and testing the critical function prototype a few things were learned as follows:
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