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Process: Make piezo xyz prototype and Manipulator Actuator - Prototype - Mechanical to piezo order starting 2013-11-14 ending 2013-12-03

If you were logged in and working on this process, you would log your work on this page.

Outputs

Scheduled:

Prototype Mechanical - Manipulator actuator mechanical 1.00 Each due Dec. 3, 2013
Completed: produces 1.00 Each July 24, 2014
  Resource: Prototype Mechanical - Manipulator actuator mechanical: Prototype Piezo Actuator 3 ax V3 (stack+tube) 1.00 Each

Work

Planned Work: (Requirements are ordered by due date)

Work - R&D mechanics: 3.00 Time - Hours due Dec. 3, 2013

Get the piezo finger from Dilson
Ivan

I borrowed the part and returned it next day.

Taken by Ivan
Work events:
Sept. 11, 2013 3.00 Time - Hours Done by Ivan

Get the piezo finger from Dilson
Ivan

I borrowed the part and returned it next day.

Work - R&D mechanics: 20.00 Time - Hours due Dec. 3, 2013

03/02/2014
The system is full assembled using the mechanical positioner and a heavy base, etc
https://drive.google.com/file/d/0B_KN6G919YgnWXlmNGtPWnM1Vm8

30/01/2014
V5 was printed
Everything assembled and connectorized.
Looks very good, next step is test using the driver.

16/01/2014
A deviation on the Z-axis movement was see during the tests, almost 50% of the Z movement range can be seen on the XY-plane. This effect is highly undesired and its origin is not exactly known. The assumption is that the poor quality of the bases supports and the unbalance of the springs are the origin of this problem.

The tests also revealed a problem with the Upper_Base_V4. The piezo tube is rotate by 45 degrees from the right position.

Piezo tube and Upper_Base coupling alignment corrected, I also increase the coupling depth, it might improve the alignment. New version: Upper_base_V5

The same increase in the coupling depth was made at the bottom_base. New version: Bottom_base_V3

Printing files: https://www.dropbox.com/s/f64k7asimx0wao3/Antonio%201-axis%20design-V5.zip

14/01/2014
Assembling the complete system.
Piezo Tube glued with Silicone I (GE), need to wait 24h before testing.

09/01/2014
The changes worked, now there are space for the wires and the solder

08/01/2014

The new Top_Base part was printed by Daniel and Mateus.
The coupling with the piezo tube is working now. The soldering on the tube difficult the assembling and the diameters are a little loose, but it will not interfere with the assembling.

Changes made on the design, new version V4 was finished and sent to be printed by Daniel
https://www.dropbox.com/sh/k5cnptubge0e8b4/yHNaApWyR2

06/01/2014
The part "Upper_base_V3.SLDPRT" need to be printed to test the coupling with the piezo tube.
https://www.dropbox.com/sh/37igxe93yse6c7d/21vgUsHyYi

Bases used to sustain the print process were changed to 0.2mm

Spring Specification for tests:
https://docs.google.com/document/d/1gvkzu8s5tceDBrdlk3h7r6-v1wPQISayj163zbC1VZQ/edit

Taken by Antonio
Work events:
Feb. 3, 2014 2.22 Time - Hours Done by Antonio

03/02/2014
The system is full assembled using the mechanical positioner and a heavy base, etc
https://drive.google.com/file/d/0B_KN6G919YgnWXlmNGtPWnM1Vm8

30/01/2014
V5 was printed
Everything assembled and connectorized.
Looks very good, next step is test using the driver.

16/01/2014
A deviation on the Z-axis movement was see during the tests, almost 50% of the Z movement range can be seen on the XY-plane. This effect is highly undesired and its origin is not exactly known. The assumption is that the poor quality of the bases supports and the unbalance of the springs are the origin of this problem.

The tests also revealed a problem with the Upper_Base_V4. The piezo tube is rotate by 45 degrees from the right position.

Piezo tube and Upper_Base coupling alignment corrected, I also increase the coupling depth, it might improve the alignment. New version: Upper_base_V5

The same increase in the coupling depth was made at the bottom_base. New version: Bottom_base_V3

Printing files: https://www.dropbox.com/s/f64k7asimx0wao3/Antonio%201-axis%20design-V5.zip

14/01/2014
Assembling the complete system.
Piezo Tube glued with Silicone I (GE), need to wait 24h before testing.

09/01/2014
The changes worked, now there are space for the wires and the solder

08/01/2014

The new Top_Base part was printed by Daniel and Mateus.
The coupling with the piezo tube is working now. The soldering on the tube difficult the assembling and the diameters are a little loose, but it will not interfere with the assembling.

Changes made on the design, new version V4 was finished and sent to be printed by Daniel
https://www.dropbox.com/sh/k5cnptubge0e8b4/yHNaApWyR2

06/01/2014
The part "Upper_base_V3.SLDPRT" need to be printed to test the coupling with the piezo tube.
https://www.dropbox.com/sh/37igxe93yse6c7d/21vgUsHyYi

Bases used to sustain the print process were changed to 0.2mm

Spring Specification for tests:
https://docs.google.com/document/d/1gvkzu8s5tceDBrdlk3h7r6-v1wPQISayj163zbC1VZQ/edit

Jan. 30, 2014 4.52 Time - Hours Done by Antonio

30/01/2014
V5 was printed
Everything assembled and connectorized.
Looks very good, next step is test using the driver.

16/01/2014
A deviation on the Z-axis movement was see during the tests, almost 50% of the Z movement range can be seen on the XY-plane. This effect is highly undesired and its origin is not exactly known. The assumption is that the poor quality of the bases supports and the unbalance of the springs are the origin of this problem.

The tests also revealed a problem with the Upper_Base_V4. The piezo tube is rotate by 45 degrees from the right position.

Piezo tube and Upper_Base coupling alignment corrected, I also increase the coupling depth, it might improve the alignment. New version: Upper_base_V5

The same increase in the coupling depth was made at the bottom_base. New version: Bottom_base_V3

Printing files: https://www.dropbox.com/s/f64k7asimx0wao3/Antonio%201-axis%20design-V5.zip

14/01/2014
Assembling the complete system.
Piezo Tube glued with Silicone I (GE), need to wait 24h before testing.

09/01/2014
The changes worked, now there are space for the wires and the solder

08/01/2014

The new Top_Base part was printed by Daniel and Mateus.
The coupling with the piezo tube is working now. The soldering on the tube difficult the assembling and the diameters are a little loose, but it will not interfere with the assembling.

Changes made on the design, new version V4 was finished and sent to be printed by Daniel
https://www.dropbox.com/sh/k5cnptubge0e8b4/yHNaApWyR2

06/01/2014
The part "Upper_base_V3.SLDPRT" need to be printed to test the coupling with the piezo tube.
https://www.dropbox.com/sh/37igxe93yse6c7d/21vgUsHyYi

Bases used to sustain the print process were changed to 0.2mm

Spring Specification for tests:
https://docs.google.com/document/d/1gvkzu8s5tceDBrdlk3h7r6-v1wPQISayj163zbC1VZQ/edit

Jan. 16, 2014 4.23 Time - Hours Done by Antonio

16/01/2014
A deviation on the Z-axis movement was see during the tests, almost 50% of the Z movement range can be seen on the XY-plane. This effect is highly undesired and its origin is not exactly known. The assumption is that the poor quality of the bases supports and the unbalance of the springs are the origin of this problem.

The tests also revealed a problem with the Upper_Base_V4. The piezo tube is rotate by 45 degrees from the right position.

Piezo tube and Upper_Base coupling alignment corrected, I also increase the coupling depth, it might improve the alignment. New version: Upper_base_V5

The same increase in the coupling depth was made at the bottom_base. New version: Bottom_base_V3

Printing files: https://www.dropbox.com/s/f64k7asimx0wao3/Antonio%201-axis%20design-V5.zip

14/01/2014
Assembling the complete system.
Piezo Tube glued with Silicone I (GE), need to wait 24h before testing.

09/01/2014
The changes worked, now there are space for the wires and the solder

08/01/2014

The new Top_Base part was printed by Daniel and Mateus.
The coupling with the piezo tube is working now. The soldering on the tube difficult the assembling and the diameters are a little loose, but it will not interfere with the assembling.

Changes made on the design, new version V4 was finished and sent to be printed by Daniel
https://www.dropbox.com/sh/k5cnptubge0e8b4/yHNaApWyR2

06/01/2014
The part "Upper_base_V3.SLDPRT" need to be printed to test the coupling with the piezo tube.
https://www.dropbox.com/sh/37igxe93yse6c7d/21vgUsHyYi

Bases used to sustain the print process were changed to 0.2mm

Spring Specification for tests:
https://docs.google.com/document/d/1gvkzu8s5tceDBrdlk3h7r6-v1wPQISayj163zbC1VZQ/edit

Jan. 14, 2014 2.22 Time - Hours Done by Antonio

14/01/2014
Assembling the complete system.
Piezo Tube glued with Silicone I (GE), need to wait 24h before testing.

09/01/2014
The changes worked, now there are space for the wires and the solder

08/01/2014

The new Top_Base part was printed by Daniel and Mateus.
The coupling with the piezo tube is working now. The soldering on the tube difficult the assembling and the diameters are a little loose, but it will not interfere with the assembling.

Changes made on the design, new version V4 was finished and sent to be printed by Daniel
https://www.dropbox.com/sh/k5cnptubge0e8b4/yHNaApWyR2

06/01/2014
The part "Upper_base_V3.SLDPRT" need to be printed to test the coupling with the piezo tube.
https://www.dropbox.com/sh/37igxe93yse6c7d/21vgUsHyYi

Bases used to sustain the print process were changed to 0.2mm

Spring Specification for tests:
https://docs.google.com/document/d/1gvkzu8s5tceDBrdlk3h7r6-v1wPQISayj163zbC1VZQ/edit

Jan. 9, 2014 9.05 Time - Hours Done by Antonio

09/01/2014
The changes worked, now there are space for the wires and the solder

08/01/2014

The new Top_Base part was printed by Daniel and Mateus.
The coupling with the piezo tube is working now. The soldering on the tube difficult the assembling and the diameters are a little loose, but it will not interfere with the assembling.

Changes made on the design, new version V4 was finished and sent to be printed by Daniel
https://www.dropbox.com/sh/k5cnptubge0e8b4/yHNaApWyR2

06/01/2014
The part "Upper_base_V3.SLDPRT" need to be printed to test the coupling with the piezo tube.
https://www.dropbox.com/sh/37igxe93yse6c7d/21vgUsHyYi

Bases used to sustain the print process were changed to 0.2mm

Spring Specification for tests:
https://docs.google.com/document/d/1gvkzu8s5tceDBrdlk3h7r6-v1wPQISayj163zbC1VZQ/edit

Jan. 8, 2014 5.02 Time - Hours Done by Antonio

08/01/2014

The new Top_Base part was printed by Daniel and Mateus.
The coupling with the piezo tube is working now. The soldering on the tube difficult the assembling and the diameters are a little loose, but it will not interfere with the assembling.

Changes made on the design, new version V4 was finished and sent to be printed by Daniel
https://www.dropbox.com/sh/k5cnptubge0e8b4/yHNaApWyR2

06/01/2014
The part "Upper_base_V3.SLDPRT" need to be printed to test the coupling with the piezo tube.
https://www.dropbox.com/sh/37igxe93yse6c7d/21vgUsHyYi

Bases used to sustain the print process were changed to 0.2mm

Spring Specification for tests:
https://docs.google.com/document/d/1gvkzu8s5tceDBrdlk3h7r6-v1wPQISayj163zbC1VZQ/edit

Jan. 6, 2014 3.97 Time - Hours Done by Antonio

06/01/2014
The part "Upper_base_V3.SLDPRT" need to be printed to test the coupling with the piezo tube.
https://www.dropbox.com/sh/37igxe93yse6c7d/21vgUsHyYi

Bases used to sustain the print process were changed to 0.2mm

Spring Specification for tests:
https://docs.google.com/document/d/1gvkzu8s5tceDBrdlk3h7r6-v1wPQISayj163zbC1VZQ/edit

Dec. 18, 2013 4.48 Time - Hours Done by Antonio

Design z-axis finger

18/12/2013
The V2 was printed by Daniel
Assembling the pats
I'm using a 15mmX4mmX0.30mm spring. It extends up to 50mm due a load of ~800g

Spring Rate = 8N/35mm = 0.23N/mm
Force at extended position (41mm) = 0.23 * (41-15) = 6N

so, the specifications are approximately:
Extended Length = 41mm
Initial Lent = 20 - 25
Spring Rate = 6N/(41-25) = ~0.4 N/mm
http://goo.gl/lE0FT8

Finishing support's design and adjusting the Upper_Base to mount the piezo Tube.
Sending version V3 files to be printed by Daniel

Dec. 17, 2013 3.30 Time - Hours Done by Antonio

Design z-axis finger

17/12/2013
Starting the version V2.
A first surface to prevent the deformation of the first layers was added to the:
Upper_base_V2.SLDPRT
Bottom_base.SLDPRT
V2 design was finished
searching spring sellers ...
http://www.vanel.com/
http://www.centuryspring.com/

Dec. 16, 2013 3.78 Time - Hours Done by Antonio

Design z-axis finger

16/12/2013
first design finished V1 ready to print
https://www.dropbox.com/s/quy9pnh7ybhjoda/Antonio%201-axis%20design-V1.zip
Finalizing these parts:
90d_Support_V3.SLDPRT
Support.SLDPRT

Parts were printed, some adjustments need to be done. Starting the version V2.

Dec. 13, 2013 2.85 Time - Hours Done by Antonio

Design z-axis finger

13/12/2013
Add adapter to the support
Many options designed

Dec. 11, 2013 5.02 Time - Hours Done by Antonio

Design z-axis finger

10/12/2013:
Add the piezo tube to the design and a cap
Tip_Tube.SLDPRT
Adapter to the actual 2-Axis piezo tube

09/12/2013 (4h05m):
3D model of the piezo stack (files in Dropbox), files:
Piezo_Stack_PT150-7×7-50.SLDPRT
Piezo Stack V2.SLDPRT
Upper_base.SLDPRT
Bottom_base.SLDPRT
Upper_base_V2.SLDPRT
Springs (42mmX3.5mmX0.6mm)

Dec. 10, 2013 3.08 Time - Hours Done by Antonio

Design z-axis finger

10/12/2013:
Add the piezo tube to the design and a cap
Tip_Tube.SLDPRT
Adapter to the actual 2-Axis piezo tube

Dec. 9, 2013 4.63 Time - Hours Done by Antonio

Design z-axis finger

09/12/2013 (4h05m):
3D model of the piezo stack (files in Dropbox), files:
Piezo_Stack_PT150-7×7-50.SLDPRT
Piezo Stack V2.SLDPRT
Upper_base.SLDPRT
Bottom_base.SLDPRT
Upper_base_V2.SLDPRT
Springs (42mmX3.5mmX0.6mm)

Usable Inputs

Equipment - Mechanical - 3D printer: 1.00 Each due Nov. 14, 2013
Onhand: 3D printer - Phil's 1.00 Each
Onhand: B9Creator 1.00 Each
Used: B9Creator 1.00 Time - Hours Dec. 17, 2013 by SENSORICA
Onhand: Ethienne's Wilson TS 1.00 Each
Onhand: ORD Solutions FDM Printer 1.00 Each

Process context:

Pattern: Generic R&D
Context: Manipulator - Mantis
Order: Work order 101 for piezo order due: 2014-04-28

Previous processes:

Next processes:


Process notes:

Print 3D finger as a test
If the test fails, order CNC piezo fingers from China
Or possibly have CNC'd locally