Work I Completed
This week I have been looking more into motors, both at what is available and what is practical. I am leaning towards the idea of using the somewhat bigger motors, the HS-311, for the main four joints, and using the smaller SG90s for the other eight. This would give more torque for the joints which will have the most torque, as the other joints only move in the air and as such they don’t have as high of a torque requirement. Using DC motors with a potentiometer for control, while a good idea, was ruled out early due to the fact that the DC motors at hand have very high RPM, and very low torque, and won’t be worth the extra effort configuring. This has been a crucial decision to be made early, as each motor is a different size, it will drastically effect how I proceed in the designing phase. As for this phase, I haven’t yet had time to start it, as I have an assignment on 3D vector applications and the scalar triple product due tomorrow. I will be able to start, and ideally finish, the modelling of the design throughout the week, and get it printed over the weekend to commence the physical prototyping and testing next week. I should have some time, however little, to get this done. I have also spent some time talking to people as well as researching code for how to make the inverse kinematics work. There is a general structure that has been clarified with other members so that they can proceed with their components of the project. I have also curated some references for both design and programming which I will be able to deconstruct to understand and apply it to Winston.
Reflection
I feel that although the design in my head is becoming more sound, the fact that I am yet to put it into a program and print is a problem. I do hope I will be able to do it this week, however, I have 20 hours of work as well as 7 hours of co-curricular before the weekend. Luckily, after the vectors validation test, I will have no more assignments other than this due this term. I should be able to utilise my free periods throughout the week to get this design ready for printing. Overall, the project isn’t behind schedule, it just isn’t ahead. I’d rather be further along with this but I do believe there is still plenty of time to complete it. I also need to start completing my UAC university application, and spend some class time talking to my teacher about how to go about getting a scholarship, which I will need to do during the class time where I should be working on this.