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TWiki > Rise Web>TWikiUsers > JacobiG>JacobiBlog (22 Aug 2007, JacobiG? )
-- JacobiG? - 25 Jun 2007

  • 8/22/07 - Worked on final presentation and poster. Worked on Solidworks drawing of sticky patch.
  • 8/21/07 - Worked on outline. Milled and poured hard parts of a third batch of inner nested toes. Worked with Michele on a Solidworks drawing of hierarchical sticky patch. Did extensive testing of a large patch to prepare for Alan's trip to Boston.
  • 8/20/07 - Poured hard parts of outer nested toes. Milled and poured soft parts of outer nested toes. Brainstormed with Michele about possible designs for a hierarchical sticky patch cut from the side rather than from the top.
  • 8/19/07 - Milled hard parts of another batch of outer nested toes.
  • 8/18/07 - Milled soft parts of inner nested toes. Offset was off on the haas and thus, the toes were ruined. Remilled hard parts.
  • 8/17/07 - Drove to San Francisco to get some task 9 because our order won't be here until Tuesday. Started making an outline titled "how to optimize spiny patches." Milled and poured hard parts in two wax blocks full of outer nested toes. Milled and poured one wax block of inner toes. Milled and poured soft parts in two wax blocks for outer nested toes.
  • 8/16/07 - Sideplates cured correctly after using new 72DC. Milled drillholes for sideplates. Changed nested toe design. Milled some nested toes. Can't pour until we get the task 9.
  • 8/15/07 - Had to remove sideplates from the mold and repour because the old 72DC didn't cure right. Milled drillholes for jacobi toes. Milled drillholes for nested toes. Demolded and tested nested toes. They work surprisingly well.
  • 8/14/07 - Milled flextures for jacobi toes. Poured flextures. Solidworks drawing of sideplates. Milled sideplates. Poured sideplates. Milled soft parts of nested toes. Poured soft parts of nested toes.
  • 8/13/07 - Reworked solidworks drawing of jacobi's design toes to decrease deflection. Milled hardparts for jacobi's design toes. Poured hard parts.
  • 8/10/07 - Brainstorming about other possible implementation styles for sticky patches under spiny toes. Started working on presentation. Testing of jacobi toe.
  • 8/09/07 - Solidworks drawing of Nested Toe idea. Milled hard parts of nested toe but we don't have the fish hooks so I can't pour.
  • 8/08/07 - Milled drill holes of improved toe. Zman Telecon. Tested improved toe. Worked on new design of a nested toe. Prototyped new design.
  • 8/07/07 - Machined, poured hard parts of improved toe. Machined, poured flextures of improved toe. Did some prototyping of a complete system with spines and sticky material.
  • 8/06/07 - Compressor is down until tomorrow do we can't manufacture anymore toes at this point. Improved short toe design. Completed unigraphics files for all parts of new improved "jacobi's design," improved short toe design and drill holes for metal spring toes.
  • 8/03/07 - Tested finished short toes. They don't work as well as the long toes. Milled and poured metal spring toes with embedded silicone.
  • 8/02/07 - Poured soft parts of flextures, half with vytaflex 40 and half with vytaflex 60. Fixed some problems with original "Jacobi's design" toe including clearance problem and normal compliance issue. Created toolpath for metal springs toe.
  • 8/01/07 - Remachined holes for springs. Poured silicone inside springs. Redrew soft parts for short toes. Machined soft parts of short toes before I left. Machined and poured sideplates.
  • 7/31/07 - Machined and poured hard parts of small toes. Machined holes for springs but they were too small. Will finish embedding silicone in metal springs tomorrow. Drew sideplates in solidworks. Will machine and pour those tomorrow.
  • 7/30/07 - Researched fish hooks trying to find small steel hooks. Bought fishhooks and Vytaflex 60 for toes. Finished short toe design in solidworks.
  • 7/27/07 - Telecon with Draper. Changed toe design in Solidworks. Short toe design.
  • 7/26/07 - Came in at midnight to prepare test data for the telecon at 9 am. 4 hour telecon with Draper. Ordered some hard plastics for use with smaller drill bit. Got in touch with several tool companies to try to get a new slitting cutter or dovetail bit.
  • 7/25/07 - Milled and poured soft flextures. Brainstormed possible hierarchical structures for sticky pads. Made unigraphics file for drill holes. Received the springs I ordered in the mail. Modified solidworks drawing with springs to more closely match thin toe design. Called some places which can make the slitting cutters. They will call me back tomorrow with quotes.
  • 7/24/07 - Implanted hooks in mold and poured hard parts. By suggestion by Sang Bae, researched slitting cutters, dovetail cutters and plastics which could be used to make better sticky patches.
  • 7/23/07 - Created unigraphics file for Solidworks drawing. Machined hard parts. Found problems with the design not apparent in the drawing. These problems were caused by a bad fishhook drawing used in solidworks. Fixed fishhook drawing and the toe drawing. Remachined toe. Will pour hard parts tomorrow. Did some research on micro mills which could be used to make better sticky patches.
  • 7/20/07 - Did some Young's Modulus testing of the 40A material. Updated Twiki with my data. Drew new toe in Solidworks that I designed in working model. Toe is about ready to go into Unigraphics.
  • 7/19/07 - Brainstorming session about what are the most important features of toes. (Number of toes, thickness of toes, metal or polyurethane.) Poured another batch of 60A and some toes with 40A. Started designing a toe in working model which will use 40A. Used approximations for Young's modulus. Will do tests tomorrow.
  • 7/18/07 - Researched spring companies and called a few to get some quotes. Will order springs. Milled previous design. Will pour tomorrow.
  • 7/17/07 - Created working model drawing of spine with metal spring. Started Solidworks drawing but didn't get far. Prototyping with music wire. Continued work on design with springs.
  • 7/16/07 - Completed prototype with springs, works but doesn't have desired motion. Completed working model drawing of prototype and redesigned it to give me the desired motion. Tomorrow I will revise my solidworks drawing to include metal springs. Milled holes to use to make spacers inside the springs. Poured Silicone and polyurethane buffers inside springs to see which works better.
  • 7/13/07 - Brainstorming on possible alternatives to using polyurethane. Started retrofitting old spine design with metal springs. Made a solidworks drawing that I can use to create a soft polymer spacer inside the circular extension springs. This will keep the hard material from impeding the natural stretching motion of the spring.
  • 7/12/07 - Prototyping for new spine design using spring steel instead of soft polymer flextures. Researched alternative spring designs.
  • 7/11/07 - Soft flextures didn't cure right. Had to remill and repour. Designed side plates for my spines which also work with Alan's design.
  • 7/10/07 - Poured Soft part flextures. Started designing an integrated system for the spines.
  • 7/09/07 - Created Unigraphics file for flextures. Milled Flextures.
  • 7/06/07 - Poured hard parts of my toe design. Cut out Alan's flextures.
  • 7/05/07 - Shop cleaning day. Solidworks drawing revision of release mechanism. New placement of mechanism will allow for a much smaller force needed to release hook from wall. Embedded hooks and poured Alan's toes. Created Unigraphics file for toe design. Cut the hard parts out using Hass.
  • 7/03/07 - Solidworks drawing. Updated with release mechanism for use when force will break flextures. Drawing ready for unigraphics.
  • 7/02/07 - Solidworks drawing of improved spiny toe with shorter flexture. Testing of 60A material for Young's modulus. Updated Twiki with data.
  • 6/29/07 - Sick
  • 6/28/07 - Solidworks drawing of the toe I designed in Working Model. Working model design for hind legs. Learned the pouring process.
  • 6/27/07 - Created slide showing spine/sticky implementation for telecon with Draper about ZMan. Design of a Working model of spiny toe.
  • 6/26/07 - Hass tutorial, Brainstorming for spine/sticky implementation, created Solidworks drawing of possible implementation.
  • 6/25/07 - Solidworks and Unigraphics Tutorial. Working model design of spiny toe.

 
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