User:Kcarpent7117/enes100/quadp1

These are descriptions of my work on the Quadcopter project.

Write problem/project Goal
At first, my goal was to create a quadcopter what was capable of autonomous flight. However this goal was a bit extensive for the three weeks I was given to work, so my new goal is to build an apparatus that's able to test motors on a quadcopter on multiple axes.

My First Task
I was assigned to research PID, the formula that allows autonomous control of a system based on an input and a desired output.

Summary of actual work over first weekend
I came up with a new see-saw that would improve upon the previous team's design, allowing for more degrees of freedom and flexibility with the number of motors attached to the balance. The shaft will be made out of 3/4" PVC pipe, so I'll be able to feed the wires of the motors, ESCs, and accelerometer through the center of the pipe rather than wrapping it around.

Additionally, I spent some time researching PID.

Week1 Narrative
I spent a great amount of time contemplating the pros and cons of a new see-saw design. It was apparent that the previous team's see-saw had been in better shape last spring, as parts were breaking off of the struts and the beam holding the arduino and the motors.

My Second Task
Over the next week, I will start constructing the balance.

Summary of actual work over second weekend
I attempted to make a gimbal design that failed, and switched to a different design using RC car parts and skateboard washers.

Week2 Narrative
My original design for a gimbal joint was three rings of PVC pipe, each 1" wide and 4", 3", and 2" in diameter. I drilled holes on opposite sides of each of the rings, large enough to loosely fit a screw through each hole. Two holes on the outermost ring, and four holes at perpendicular to each other on the smaller two holes. Unfortunately I was inaccurate in drilling the holes for the second PVC circle, and the friction caused from rubbing the bolt with the side of the hole caused the whole joint to lock.

The new design uses a ball joint and a skateboard bearing, which will be placed inside of the PVC shaft.

My Third task
I need to rethink my design for the gimbal joint. the PVC version was bulky and heavy; even if I had been able to make a joint that worked well, it would be unsuitable for testing on a quadcopter balance. The new joint will need to be smaller, and be able to adjust to different degrees of freedom with ease.

Week3 Activities
I created a design for the gimbal joint that could work for the final balance. It is lightweight, easily adjustable, and simple to construct.

Week3 Narrative
As I was searching for inspiration for a new gimbal joint, I happened upon a video of a joint made for a DIY steadycam project that used two U-joints from an RC car and a ball bearing. The combination of these three parts allowed for small movements in all directions, in addition to the camera being able to freely rotate. However, for the quadcopter project, I am looking for a joint that will have near-frictionless movement in all directions to best simulate the freedom that the copter will have during flight. Fortunately, modifying the design of the steadycam joint was relatively simple. All that would need to be done is to file down the sides of the joint underneath the metal balls so that the sides of the U-joints are able to slide underneath each other without rubbing against the other plastic. After finalizing the design of the joint, I ordered the parts necessary to construct it.

My Fourth task
Construct the gimbal joint and install it onto the motor platform.

Week4 Narrative
The U-joints completely encased the balls that they surrounded, making it necessary for me to cut off one part of the side of the U-joint to remove the ball and sand down the interior. As-is, the sides of the U joints weren't able to rotate underneath the ball because the plastic sides were too bulky. I took a dremel sander to the sides and interior of the joints, slowly grinding away layers of plastic until the sides of the joint were able to rotate freely underneath the metal ball. I also shaved off a bit of plastic from the straight portion of one of the U-joints so it'd fit snugly into the ball bearing. After sanding was complete, I inserted the metal ball back into the grasp of one of the U-joints, and used a saudering iron to 'weld' the other side of the u-joint back together.

Complete Team Page
Fill out the Team Form (should have already copied the form, created the team page, linked to it and started filling it out).