As we near the end of the semester, we would like to take stock of our progress and the path forward in completing the EverySwerve module. 

Completed Work

         Major COTS component selection is complete, with motors, slip rings, and encoders. Initial CAD models of wheel module assemblies have been developed (See Figures 1 & 2), with finer details being reviewed for manufacturability and ease of assembly. Validation plans have been fully designed for use during semester 2, with software concepts being discussed and reviewed. A fully outlined table of constraints (Shown in Table 1), outlines the numerous parameters that must be taken into account as we continue development.

Figure 1

Figure 2

Table 1

Potential Obstacles

        Over the next two weeks, the team will be working heavily in FEA to simulate responses of joints under varying loads and conditions. Considering our lack of experience with programs like COMSOL and Abacus, one potential obstacle will be setting up accurate boundary conditions and test case conditions. We plan to overcome this with iterative review and using FEA as a guide to potential issues; not the definitive answer to our design validation.

The Path Forward

        The team’s plan for the near-term work is to begin to set up strong CAD models for FEA analysis that can adapt as components experience changes and finalize vendor quotes and timelines. By November 23rd, the team hopes to be almost complete with all analysis of the device, ready to present for our Semester 1 design review.