1. Mechanical Arms Hardware

Transcription

1 TC.0.1 Analysis 1. Mechanical Arms Hardware TP 8.1: ATLAS apparatus must be able to simulate touch actions on a touchscreen MFD. TP 8.2: ATLAS apparatus must be able to simulate drag and drop actions on a touchscreen MFD TP 9.1: ATLAS pointer should be able to recognize a press X-many times command. TP 11.1: ATLAS must be able to perform programmed tasks without tasks up to 12 hours. TP 12.1: Maximum travel speed of the ATLAS apparatus must be at least 12 inches/sec. TP 12.2: ATLAS apparatus must be able to repeatedly perform touch actions at least 90 times per minute. TP 12.3: ATLAS apparatus must be able to repeatedly press a hard key at least 90 times per minute. Risk IDs Checked / Mitigated ID 5: Linear Speed Requirement Not Met ID 6: Not enough touch pressure ID 7: Cannot perform gesture touches ID 8: Loose Stability of Robotic Arm ID 9: Repeatability Issues Equipment Needed: - Motors - Stopwatch - XY Frame - Ruler - Pressure-Variant Resistor - Possible Need for basic S/W Test Code 1. Test linear XY speed capabilities a. Check Distance vs Time travel from East to West & Vice Versa b. Check Distance vs Time travel from Southeast to Southwest & Vice Versa c. Check DIstance vs Time from North to South & Vice Versa d. Check Distance vs Time from Southeast to Northwest or Northeast to Southwest e. Check Distance vs Time from Center to East or West f. Check Distance vs Time from Center to North or South g. Check Distance vs Time to corner 2. Test repeatability of motions a. Alternate between 2 points b. Alternate between 3 points c. Alternate between 4 or more points 3. Touch Apparatus

2 a. Touch / press speed / Repeatability of Action Check Touches possible per minute by measuring human-possible up-downs that can be achieved in 20 seconds? b. Touch pressure Minimum: slowly increase touch pressure over time under pressure-variant resistor until exceeds limits of touch bezel and / or touch screen i Test breaking point of a mechanical backup c. Sensitivity measure Using S/W to motor, measure minimum change in pressure 2. Wiring Testing N/A Risk IDs Checked / Mitigated: Risk ID 11: Power Supply Capability Risk ID 13: Electrical Shock Hazards Equipment needed - SPICE Program - Intended Wiring to Power Supply - Voltmeter (Specify name used here) - Power Supply 1. SPICE Simulation a. Create a simulation of the electrical framework, with no power supply in place b. Place voltmeter checks at the following c. Create a simulation of the electrical framework, with a maximum power supply in place. d. Place voltmeter checks at the following: e. Place ampmeter checks at the following 2. Impedance a. For each of the following pin-in and pin-out combinations, test to verify that the following have an impedance of under.5 ohms (closed circuit)

3 b. For each of the following pin-in and pin-out combinations, test to verify that the following have an impedance of 1 megaohm (open circuit) 3. Voltage a. For each of the following pin-in and pin-out combinations, test to verify that the following have appropriate power: b. Verify the following have no voltage across pin-in and pin-outs of the following: 4. Shock Check a. Physically check all wiring protection for any tears or loose connections. b. If there is any bare wire, check for impedance and voltage to determine shock risk. 3. Sensor Testing TP 6.1: ATLAS must be able to manipulate touch display. TP 6.2: ATLAS must be able to press hard buttons. TP 11.1: ATLAS must be able to perform programmed tasks without major error for up to 12 hours. TP 12.2 : ATLAS apparatus must be able to repeatedly perform touch actions at least 90 times per minute. TP 12.3: ATLAS apparatus must be able to repeatedly press a hard key at least 90 times per minute. Risk IDs Checked / Mitigated: Risk ID 9: Repeatability Risk ID 15: Damage to MFD Associated with ID 6: MFD cannot apply proper touch pressure. Associated with ID 8: Loose Stability of Robotic Arm Equipment needed: - Pressure-sensitive resistor - Basic voltage supply - Voltmeter - Single Key Bezel - Bump Switches a. Test pressure sensor Make basic circuit of voltage supply to resistor i Calibrate / Zeroize Pressure Sensor Recording (No applied pressure = baseline)

4 ii Apply to simulated key bezel, take readings on how much pressure is needed to turn the key bezel iv. Test with more Key Bezels as needed b. Bump Switches Create basic circuit of voltage supply and switch i Use multimeter to check no current is flowing and that voltage matches near the voltage supply base when the switch is not pressed ii Press switch, check current flow and voltage across switch c. Insert additional sensors as needed 4. Software Commands TP 2.2: ATLAS GUI software must provide a way to reconfigure display size of device. TP 5.1: ATLAS must contain an Application Programming Interface (API) and Interface Design Document (IDD) to allow remote operation and configuration from a computer. TP 12.2 : ATLAS apparatus must be able to repeatedly perform touch actions at least 90 times per minute. TP 12.3: ATLAS apparatus must be able to repeatedly press a hard key at least 90 times per minute. Risk ID s checked / Mitigated ID 9: Repeatability ID 12: Code Execution Equipment Needed: Electric Motors Sensors Circuits for Testing Sensors Voltmeter a. Test basic command to motor Connect Motor to Motor Driver i Connect Motor Driver to CPU ii CPU executes command for moving motor iv. Judge for appropriate reaction time and appropriate rotational speed b. Test basic command to linear actuator Follow 4.a s testing procedure, but with a linear actuator motor c. Test basic reading from pressure sensor Wire test circuit to pressure sensor.

5 i Calibrate pressure sensor for when no pressure is applied. Compare results of 4.c.ii with results from 3.a.ii ii Apply pressure to sensor. Check for appropriate change type response. iv. Change in response of measurement will be voltage. d. Repeatability of commands Execute basic 2 alternating basic commands for motor driver to driver at a rate of 1 command every second (low power). i Run test for hours straight with constant monitoring

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