9/7/22 Attaching the Payload

Colin Szeto

Here with the payload plate mounted onto the rail inserts the pins were not able to insert through the holes

By adding spacers between the t rail and the payload plate this eliminated the force the payload plate was pushing on the rail blocks and allowed the pin to slide through the holes easily

Interference was found between the magnetic claw interface plate and the mourning rail. This was due to the socket head m3 screws not modeled into the drone CAD

The drone causes quite a bit of down draft, in testing environments we want to eliminate debri jumping from the ground and cracking the oak-d lite glass lense. 

We repurposed plastic sheets used for face shield as the camera cover

The plastic was cut to size to be glued onto the oak-d lite camera holder

The glue up was transferred to the vice to apply even constant pressure along the mated faces

This is the final result with the plastic adhered onto the front of the oak-d lite case

Here is both the HSI camera and the bottom facing oak-d lite mounted onto the payload rail mounted on the drone

9/7/22 Building drone landing platform

9/6/22 Stringing drone landing platform

9/3/22 Notes on the assembly of the claw

4.233 mm

Will have to cut down m3 16mm screw to 12 mm to have enough clearance 

Alternative: 10 mm screws or revert back to using heated inserts and screws.

When knob rotates there is still clearance

8/31/22 Fabricating and Mounting Minimized Drone landing plates

 

Colin Szeto

Fabricating the smaller landing plates

Configuration used for cutting the drone mourning rails. The rails were taped together to get a consistent cut across both pieces. A Backer was set up behind the chop saw to catch all the metal particles

Cut and drilled holes for the quick mounting blocks which integrate with the bottom drone plate

Drill bits used for fabricating the rail blocks:

3/16 for the pin hole

3 mm for the mounting holes

Able to mount the smaller profile landing plates

8/30/22 Fabricating Drone Landing Plates and Assembly

 

Colin Szeto

Utilized desktop cnc, did not use air compressor and water mixture, the carbon fiber dust got everywhere

Edges of the parts before wet sanding

Edges after wet sanding

Front view of the drone landing plates connected to the legs. Utilizing 2 clamps instead of the intended 4 clamps. This decision was made as only had 8 clamps on hand. Demonstrated that landing plates only required two clamps rather than 4 as there was more than enough clamping force

8/19/22 Mounting Front Vectored Thrusters onto the WAM-V

Colin Szeto

Mounted front vectored thrusters onto pontoon skis of the WAM-V

7/10/22 Perception Frame Mounting

Colin Szeto

The diagrams below represent a side view of the perception mount resting on the base of the motor mount structure.

Before: 

Side view representation of the perception mount. Only tied in with bungee cords. The bottom base had freedom to move

After: 

Added in 90* corners to bottom rail of the motor frame to ensure that the perception structure would not wobble back and forth on the boat

Attached the Velodyne Puck 16 and an Oak-D Lite onto the top of the perception frame.

Added a white board with straps to the back of the boat to allow for the electronics box to be easily carried on and off of the motor mounting structure

7/9/22 Perception Mount Design and Build

Colin Szeto

Initial design required many specific 80/20 cut lengths. No obvious way to remove perception mount from the motor frame for transportation

Final design - using on hand 2x4 wood pieces. Strapped onto the motor mounting frame

Construction of the perception mount. Utilized extra 80/20 corners bracket for the joinery of the ends of the frame