9/6/22 Work Holding For Rails

Colin Szeto

Printed out in ABS a 3 part work holding Jig with the holes printed into the top and sides. Enables meeting the desired tolerances with available tools in the lab.

Attached this fancy clamp to the drill press for locating the rough location of the holes. There is some backlash between the x and y screws so holding the jig in place by hand is still necessary.

One problem has been chip clearing. This has been caused by keeping the part within the holders for all 3 drilled holes. This can be remedied through extracting the part out of the clamps and clearing the chips between the drilling.

New jig will take 2 hours.

Later on this jig was not required as the the cut rails were cut slightly larger than one another. This was unintentional but aided in work holding.

First to fourth

1.5085

1.5105

1.5235

1.5430

The material was inserted into the jig from smallest to largest. This meant that the jig would be slightly enlarged after each set of hole drilling. Yet due to the rail increase in length the jig would still snug around the part.

9/6/22 Stringing drone landing platform

9/5/22 Simple Integration of the Hydrophone to the Front Vectored Thrusters

Colin Szeto

The thought process for this design is to integrate the hydrophone mounting onto the vectored front motor thrusters. This simplifies the design of the system as the propulsion superstructure can be utilized for the hydrophone mount. Greatest problem now is the proximity to the surface of the water

Rev 1, getting ideas down for a visual representation of the hydrophone mounting on the front vectored thruster’s vertical bar

Rev 2, top view, deciding where to place the hydrophone

Rev 3, determining the hydrophone should be under the interface plate to enable the greatest chance of the hydrophone receiving the pings

Top view of the vectored motor mounts

The blue dots represent the potential hydrophone placement location. 

The purple vectors represent the direction the water will flow. 

The hydrophone will be placed to the side of the motor mounts to avoid the currents that the motors will generate

The design is a single printed part with zip ties holding the hydrophone to the printed part

Parts count: 

1 AS-1 hydrophone

3 zip ties

2 ¼-20 1in long button head stainless steel screws

2 stainless steel t nuts

3d printed holder attached to the base plate

Biggest concern with this design is the hydrophone will most likely hit the trailer

Hydrophone mount on the inner section of the interface plate

Alternate view of the hydrophone mount on the interface plate

9/5/22 updated placement of the drone landing platform based off fitment on the actual boat

 

Colin Szeto

Updated placement of the drone landing platform. 

The left side of the frame is aft the right side of the frame is the forward part of the boat. 

The drone platform is long enough to fit between the emo battery, battery for the electronics box, and the torqeedo batteries. However, this leaves very little space for the racquet ball launcher.

9/4/22 Designing the Downward facing OAK-D camera Mount

Bottom ISO view

Bottom view

Side view

In the side view we see that the oak-d camera field of view is not blocked by the magnetic gripper.

9/4/2022 Design for the Hydrophone Arm

Lindsay Wright

ERAU boom arm is swing-style; we want a quick prototype that will interface with the WAM-V

Distance between the back of the spring and the handles was measured to be 53.799" in the back-and-forth (k-hat) direction, which is our estimate of the length of Embrey Riddle's hydrophone boom arm:

Pontoon height is roughly 14.416", but to be on the conservative side we will consider it as 15" (it wasn't measuring from top to very bottom as I hoped it would):

We add another 40"/1m to ensure the hydrophone is well under the surface

 

If we create a prototype mount similar to our T500 mount, then the minimum length of the boom arm is 58" (15+40+3 inches to account for the height taken by the mount)

 

This concurs with Embrey-Riddle's boom arm length

 

Therefore here is a prototype of a hydrophone boom based on Colin's T500 mount design.

Notes on parts:

rod is drilled .25" diameter with the intent of filling with threaded rods

 

Mounting plate for hydrophone:

9/3/22 3D printing

 

Printing out the servo housing in ABS at UCSD printers, note the mounting holes will utilize screws threading the plastic rather than brass heated inserts

Magnetic latch in PLA at UCSD printers, note the mounting holes will utilize screws threading the plastic rather than brass heated inserts

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

9/2/22 Motor Guard for Cruise 2.0 thrusters

Colin Szeto

Re-reading the requirements over again we identified a propeller guard is required

This design consists of 5 unique parts. The intended manufacturing method is through cutting material with a laser cutter, cnc router, or water jet.

CAD to motor guard here

9/1/22 Dummy Proof Storage

Colin Szeto

Thought process here was that the mount could pivot up. Utilizing bent aluminum plates with holes. Reduces the hard interface points between the vertical bar to the horizontal part from 3 2in by 2in angle brackets to 1 2in by 2in pivoting bracket. 

For linear motion of deploying the thrusters we would still have to loosen the screws from the vertical bar and the pivoting bracket to enable lowering of the motor plate