Upon the beginning of the project, I was responsible for analyzing the objectives and developing a detailed specification and requirements for the robot structure design. I listed out mechanical and software requirements based on the assignment objectives and developed an outline for software. [ET 1.1 1.2 1.3 2.1 2.4]
I organized a team meeting where each team member was assigned to research on possible solutions to satisfy those requirements. After discussion on the technique difficulty and limitation on available components and parts, I chose the double revolution joint arm for physical structure in the second team meeting. [ET 3.6 ]
Based on the knowledge of forward and reverse kinematics and Jacobian matrixes, I established a mathematical model that can be used to predict the velocity and trajectory of the arm. Then I created a simulation of the robot arm in Matlab which was later used in testing to determine the optimum arm lengths. I made the decision based on the provided environment details and the performance of simulation considering responding time, movement complexity and structure robustness. [ET 1.2 1.3 1.6 2.1 2.2 2.3]