Pre-Meeting posts:

• Working on Base Desgn
  
• Solving cable routing/attaching issue
  
• Hydraulic circuit
  
• Part Selection

• Several grasps:
  

Meeting Notes

• Dan briefed everyone on current design status
  • Palm and finger housing
  • Rotary input motor
  • Attachment between input shaft and rotary hydraulic master
  • Cable routing on back of finger to apply internal forces instead of inside finger structure
    • Cables tie back to hydraulic slave cylinders in the base, so no hydraulic routing through finger.
  • Drawback of vane-type rotary actuators is leakage between two sides of hydraulic system
    • Add a valve/check valve for zeroing the position of the fingers and equalizing the hydraulics.

• Should look at exactly what we want to do for the demo
  • Determine what the capabilities of the demo hand
  • Probably similar to the grasp renderings above

• Sensors in the finger
  • One encoder on the gear orienting the fingers
  • Need at least 3 position sensors per finger
    • placement is flexible
    • likely use 4+ per finger for redundancy and perhaps optimizing linearity

• Converting models
  • Get a version of the hand/fingers up on basecamp so that energid can look at converting these linkages (might need to do some custom work)
  • Notify Jim Bacon - does the work on the Solidworks converter

• Next meeting in 2 weeks, without Roald