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BACHELOR THESIS REPORT MANUFACTURING A ROBOT FOR THE BOEING COMPANY
ALEXANDER KIVELÄ
AER E 494: MAKE TO INNOVATE II – BOEING MANUFACTURING
IOWA STATE UNIVERSITY 05/23/2020
Alexander Kivelä Iowa State University 05/23/2020
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Abstract
This project was done as mandatory executive part of a bachelor thesis performed at Iowa State
University during exchange studies in spring term 2020. The student has chosen a project course
from the Aerospace Department on own initiative with a content of 3.0 credits (‘6 hp’) and the topic
has been chosen due to the interest of enriching more knowledge in the Boeing Manufacturing
industry and how commercial aircrafts are assembled through efficiency, sustainability, and
cooperation. The Boeing Manufacturing team at Iowa State University has consisted of seven
members, divided into two sub teams – Boeing Structure and Boeing Automation. This report will
mainly focus on the performance of the Structures Team, since the student participated at that team
and the focus will lie on model assembling, parts research, limitations, and lastly a presentation of
the accomplishments.
More accurately explained, the mission of the Boeing Manufacturing project was to design and a
scaled down robotic system capable of transporting a Boeing 777X wing from any point in the facility
to the fuselage, followed by a full wing-to-body connection process. Two milestones have been taken
into account in order to keep track on time for both the teams. The COVID-19 pandemic resulted in
total restrictions on physical participation on campus, causing delays and therefore incompletion of
the full project mission, both from Structures Team and Automation Team. The results can until
further notice only be presented in form of finalized CAD models of the prototype, deliverables of all
the necessary parts and components for building the prototype, the assembly of the base structure,
and the finalized code for the autonomy of the prototype.
Alexander Kivelä Iowa State University 05/23/2020
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Table of Contents
1. Project Definition 3 1.1 Mission Statement 3
1.2 Formulation 3
1.3 Clients and Stake Holders 3
2. Project Management 4 2.1 Team Organization 4
2.2 Communication Strategy 5
2.3 Important Dates 5
2.4 Major Milestones 5
3. Scope of Work 6 3.1 Project Goals 6
3.2 Research and Modeling 6
3.2.1 Structures Team 6
3.2.1.1 Base Structure 7
3.2.1.2 Mecanum Wheels Orientation and Operation 10
3.2.1.3 Upper Structure 11
3.2.1.4 Electronic Components 14
3.2.1.5 Other Parts and Components 15
3.2.2 Automation Team 15
3.3 JIRA and Weekly Reports 16
4. Results 17
5. Discussion 19 5.1 Assumptions, Constraints, and Dependencies 19
6. Summary and Future Work 20 6.1 Summary 20
6.2 Future Work 20
7. References 21
8. Appendix 23
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1. Project Definition
The project definition breaks down the project into three parts, introducing with the mission of the
project, followed by a problem formulation, and lastly a presentation of the clients and stakeholders
for which the project is aiming towards.
1.1 Mission Statement
The mission of this project was to develop an autonomous system that is capable of transporting a
Boeing 777X wing from any point in the workspace to the fuselage and to complete the wing-to-body
connection process without any human interaction.
1.2 Formulation
The purpose of this project was to improve the performance, efficiency, and time spent of Boeing´s
current manufacturing process. The end goal was to complete a full structural assembly of the scaled
model, but also to be fully functional regarding the autonomy, with no human interaction. In terms
of structure, the intention was to complete the assembly of the base structure, the upper structure,
and the middle framing that connects the upper and lower structure by the end of the semester. In
terms of automation, the robot had to be capable of locating itself anywhere within the workspace
which required completion of the assembly of all the electronics, but also completion of the code for
predetermined paths that the prototype had to perform successfully.
1.3 Clients and Stake Holders
This project had two Stake Holders, Boeing and Make to Innovate. Boeing gave this team the mission
statement that is described above and the team has been working directly with one of their
representatives to make sure that the work abides by their requirements. Make to Innovate has
provided the funds needed to complete this project and to obtain the deliverables. A budget chart
with the most expensive components has been organized for the Structures Team in an excel file and
approved by the instructors. Refer to the Appendix for the budget chart.
The clients have been Jane Karpinsky, Matthew Nelson and Christine Nelson. The project manager
has been working directly with each of these clients weekly for reconciliation and constructive
criticism. Jane, the Boeing Representative, has provided insight and advice for industry-based skills
and also made sure that the team have been keeping documentation of everything and made sure
that the team are staying on track with the goals and mission statement. Christine has provided
support to the team’s academic needs, such as questions about certain documents and reports.
Christine also connected the team with people with certain knowledges or skills that was needed for
problem solving and other question marks. Mathew has provided insight into technical details such
as Arduino and other electronics.
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2. Project Management
The project management has been governed by four important factors, which are Team
Organization, Communication Strategy, Important Dates, and Major Milestones which has resulted in
a clear labor division, a clear disposition, and a clear time frame.
2.1 Team Organization
The Boeing Manufacturing project consisted of 7 members divided into two teams called Boeing
Structure and Boeing Automaton, where three members (including the author of this report)
participated in Boeing Structure and three members participated in Boeing Automation. The project
consisted of a project manager, followed by two team leads, one in each team, and lastly team
members.
Figure 1. Team Organization.
Table 1. Contributors to Boeing Manufacturing
Name Affiliation Role Email
Austin Mendoza Student Project Manager [email protected]
Grant Idleman Student Structures Team Lead [email protected]
Laura Hyink Student Automation Team Lead
Daniel Sisco Student Automation Team Member
Thomas Burkhart Student Automation Team Member
David Gunger Student Structures Team Member
Alexander Kivela Student Structures Team Member
Jane Karpinsky Boeing Representative Technical Advisor [email protected]
Matthew Nelson Instructor Faculty Advisor [email protected]
Christine Nelson Instructor Faculty Advisor [email protected]
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2.2 Communication Strategy
The communication strategy was arranged in such way that the team had meetings biweekly, on
Tuesdays and Thursdays for an hour each, where both Structures Team and Automation Team
worked on assembly and discussed accomplishments, progress, concerns, and future work. Further,
the team used email for big events and dates such as meeting announcements or design review
dates. Cybox, a cloud storage used by students at Iowa State University, has been used for uploading
all documents such as excel files, important links, and weekly reports. When changing over to online
cooperation, the team used Zoom the same times as the earlier meeting.
2.3 Important Dates
2/14/2020 – Finalize baste structure.
3/16/2020 – Complete research of linear actuator, purchase said item, and begin
and begin integration with base structure.
– Complete code for motor controller which enables functionally and
movements of the wheels.
– Begin research to acquire a fully functional linear actuator.
4/24/2020 – Complete research of piston, purchase said item, and begin with top
upper structure.
– Begin research to acquire a fully functional piston.
2.4 Major Milestones
➢ Structures Team
o Milestone 1 (3/31/2020)
▪ Complete assembly of the base structure and begin the assembly of the
upper structure.
o Milestone 2 (5/1/2020)
▪ Complete a full structural assembly of the rover.
➢ Automation Team
o Milestone 1 (3/31/2020)
▪ Have code installed and be able to use a remote control to handle the rover.
o Milestone 2 (5/1/2020)
▪ Complete code for fully functional drivetrain.
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3. Scope of Work
The scope of work targets two important objectives, which are Project Goals and Research and
Modeling.
3.1 Project Goals
The main project goals were simply to gain industry and hands-on experience in the commercial
jetliners production, but also to gain experience in the department of research and development.
This project allowed the team to work with a world leader jetliner manufacturer and to gain insight
on necessary documentation, meeting deadline, and what it is like to work with a team to complete a
mission.
The specific project goals for this semester was to complete the assembly of the very first prototype.
At the end of the semester, the team intended to display the prototype fully assembled and
functional for others to see. This means completion of the code and electric components for
autonomy in the workspace, but also completion of the structural components for an aesthetic and
sustainable prototype.
3.2 Research and Modeling
Both the teams were expecting a lot of research and outside help due to the lack of knowledge in
complex coding and certain structural component capabilities.
3.2.1 Structures Team
The research and modeling for Structures Team mainly consisted of researching and purchasing parts
that were necessary, and then building the prototype, consisting of a base structure, an upper
structure, and a supporting frame in the middle of the upper and lower structures. It also consisted
of researching what electronic components that were needed for Arduino in order to control motors
in the upper structure. The conceptual design of the prototype was supposed to mimic an original
scaled robot that Boeing are using for the same reason.
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Figure 2. Boeing Robot Used for Transporting Aircraft Wings.
3.2.1.1 Base Structure
Structures Team had in priority to finalizing the base structure for the first month, were the base
plate and wheels were in focus. When it comes to the base plate, the team first intended to scrap
material from the Make to Innovate Lab that could hold all the electronics and the battery for the
time being, but it was not a long term solution. The team concluded that a black Plexiglas with
dimension of 17 x 17 inches and a thickness of 0.3 inches would be the strongest, lightest, and best
aesthetically pleasing design. When choosing wheels, the Structures Team concluded that 6-inch
mecanum wheels would be necessary for movements in every possible direction but also for
accurate movements. Finally, the team purchased four NeveRest Classic 60 Gearmotors that was
assembled to the wheels in order for the wheels to transport the prototype. Using T-slot rails
underneath the base plate for wheel attachment made the wheel-to-base assembly possible.
However, the greatest concerns were to find a suitable hub for the wheels. Since the team could not
find any hub that would work with both the wheels and the gear motors at the same time, the
Structures Team Leader, Grant, designed own hubs in Solid Works that was 3D-printed.
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Figure 3. Black Plexiglas Base Plate With T-slots Attached Underneath.
Figure 4. Motor and Wheel Assembly.
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Figure 5. 6 Inch Mecanum Wheel.
Figure 6. 3D-Printed Motor Hub.
Figure 7. NeveRest Classic 60 Gearmotor.
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Figure 8. CAD Model of Full Base Structure Assembly.
3.2.1.2 Mecanum Wheels Orientation and Operation
The reason why mecanum wheels were used for this prototype is because they give a holonomic
type of drive, meaning that the prototype can move in any possible direction without changing its
orientation. This solution differs from omni wheels since it would require you to change the direction
of the prototype simultaneously and thus the direction of the wing that was supposed to be carried.
Orientation:
Looking as if the robot was pointing ahead in front of you, the right wheel will have its high edge
from the top end point to the right, while the left will point left; the back wheels are opposite of the
front.
Figure 9. Mecanum Wheels Orientation.
All wheels should be aligned with equal contact to the ground.
All proceeding motions are in reference to the orientation above.
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Straight Forward/Backward Motion:
All wheels moving forward or all wheels moving backward.
Directly Rightward Motion:
Make the right-side wheels move inwards towards themselves and make the left-side wheels move
outwards away from themselves.
Directly Leftward Motion:
Make the left-side wheels move inwards towards themselves and make the right-side wheels move
outwards away from themselves.
North-West/South-East Diagonal Motion:
Operate the front right-side wheel and back left-side wheel at the same time and in the same
direction (do not operate the other wheels).
North-East/South-West Diagonal Motion:
Operate the front left-side wheel and back right-side wheel at the same time and in the same
direction (do not operate the other wheels).
3.2.1.3 Upper Structure
After finalizing the base structure, the team began the necessary research on the decision for the
upper structure components. These components mainly consist of linear actuators and a piston,
which were needed for movements in x-, y-, and z-direction (while the base of the model is
stationary). This was also necessary for precise and accurate movements when it comes to the very
last wing-to-body connection. The team agreed to use belt-driven actuators for multiple reasons. It
was not as costly as for instance screw-driven actuators, and the belt-driven actuators had higher
thrust speed, which means that it could move heavier loads in the linear motion. A fully assembled
belt-driven actuator consists of many parts like V-slots, gantry plates, timing pulleys, timing belt and
screws, bolts, nuts etc. Instead of creating own actuators, the team agreed to purchase two fully
assembled, 500 mm, belt-driven actuators from OpenBuilds that was supposed to be assembled
orthogonally to each other (one in x-direction, and one in y-direction) in order to save time. The team
also chose to purchase two stepper motors of type Nema 17 Stepper Motor (one for each actuator),
in order to electronically steer the actuators. Lastly, the team made research on a piston for
movements in z-direction, where the first idea was to use a hydraulic piston, but turned out to be a
risk due to its heavy weight, and therefore the team concluded that an electric actuator that allows a
stroke of 12 inch with a force of 50 lbs would be the best fit. Also, the Structures Team lead, Grant,
constructed a holder that supports the piston from the bottom and allows attachment to the upper
assembly. This holder was constructed in Solid Works and then 3D-printed.
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Figure 10. Premade Belt-Driven Linear Actuator from OpenBuilds.
Figure 11. Nema 17 Stepper Motor.
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Figure 12. Electric Piston for Movements in Z-Direction.
Figure 13. Z-Axis Piston Mount.
The upper structure (mainly consisting of the belt-driven actuators, the stepper motors and the
piston) and the base structure (consisting of the base plate, the mecanum wheels, the gear motors,
and the T-slots) were supposed to be integrated with four aluminum rails with a support for each rail,
four L-brackets which makes the attachments of the aluminum rails and the linear actuators possible,
and four angle struts which allowed the aluminum rails to hold in a 45 degree angle.
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Figure 14. L-Bracket.
Figure 15. Angle Strut.
3.2.1.4 Electronic Components
Finally, the Structures Team began the research of what electronic components that was needed for
Arduino to control the stepper motors with high precision. After looking into some devices that
would suit for the model, the team concluded that an A4988 micro stepping driver would be the best
fit for the stepper motors, since the electronic device was self-contained and it is possible control all
the stepper motor with only one A4988 device. Other devices, like dual H-bridges would require one
device for each stepper motor, which would be more time consuming. Before activating the A4988
micro controller, it was necessary to set the current that flows through the stepper motor coils using
a small potentiometer on the A4988 module, or otherwise the device would become too overheated.
This can be done with an ammeter.
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Figure 16. A4988 Micro Controller.
Figure 17. Circuit Schematic for A4988 Module.
The figure above is showing the complete circuit schematic. It consists of a 100µ capacitor for
decoupling and a 12 V and 1.5A adapter for powering the motor. The wires A and C from the Nema
17 stepper motor are connected to the 1A and 1B pins on the A4988, while the wires B and D are
connected to the 2A and 2B pins.
3.2.1.5 Other Parts and Components
All the parts that were used for building the model were many and cannot be presented in running
text. Therefore, a parts list containing a description of all the parts has been inserted in the appendix
section. More pictures of components like motors, connectors, CAD models etc. can also be seen in
the appendix.
3.2.2 Automation Team
The research and modeling process for the Automation Team is above the authors knowledge and is
therefore not as comprehensively explained as the Structures Teams scope of work.
The Automation Team spent a lot of their time on the drive-train software and getting the prototype
to operate and transport across the facility the way they wanted it to. This was a challenge for the
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team since none of the team members had any expertise in complex coding. Therefore, the
Automation Team focused on the researching of an open source software that could be used on the
prototype. Once a suitable coding was found, the team began the testing and the debugging process
to fit the needs of the prototype. As soon as the base structure of the prototype was going to be
ready, the Automation Team would begin the testing of its movements. This was, according to the
Automation Team, estimated to be the most time-consuming objective for them, since it acquired a
lot of complex coding to control the wheels in the way they wanted to.
Figure 18. Electric Schematic (Automation Team).
3.3 JIRA and Weekly Reports
JIRA is a project management software which has been used during the semester for tracking tasks
and progress towards completing items that ultimately result in accomplishing the goals of the
project. The software allows an instructor, a team leader, or a team member to assign certain tasks,
sub-tasks, or milestones for which one can specify objectives, timelines, estimated labor time and
much more. Every hour that has been spent on this project has been logged into JIRA by every team
member. All the assigned tasks that have been given to the team has been logged with the amount
of hours that was acquired, but also a paragraph of specified accomplishments, concerns and
obstacles that occurred during the working hours.
Every week, the team members have submitted an individual weekly report with their own
accomplishments, deliveries, concerns and upcoming work in order to keep track on one’s own
performance and to reflect whether the team follows the timeline as planned. The weekly reports
have been evaluated and graded by the instructors.
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4. Results
The results are thought to be presented in the form of a complete and fully assembled prototype
that is able to transport itself in the workspace. However the delays and physical restrictions that
occurred as consequence of the COVID-19 pandemic, the Boeing Manufacturing Team has not
succeeded to finalize the structural assembly, as well as the electronic assembly, resulting in an
incomplete prototype for this semester. The total time spent in the Make to Innovate Lab, such as
online work has given the team the time to only finalize the CAD models, to purchase and obtain all
the necessary deliverables, to assemble the base structure, and to finalize the code for the autonomy
of the prototype. The results can until further notice only be presented with the CAD models that
were made as a guidance on how the prototype was going to be assembled. These models are
presented below.
Figure 19. CAD Model of Finalized Prototype.
The figure above is supposed to simulate how the final prototype was going to be structured. The
main components of the prototype are shown with arrows. The base mainly consists of the base
plate and the mecanum wheels, which would constitute the stability. The upper structure mainly
consists of the piston and the linear actuators together with the stepper motors which are for
transporting the load in x-, y-, and z-direction while the base is stationary. Note that the piston in this
model is hydraulic and was later thought to be replaced by an electric piston due to the desirable of
mass reduction. The aluminum rails between the upper and lower structure is a framing support
which allows a 45-degree angle thanks to the angle struts and allows attachment to the linear
actuators thanks to the L-brackets. The component on top of the piston is what carries the wing and
is supposed to carry the wing with a flat plate underneath.
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Figure 20. Updated Upper Structure.
The figure above shows an updated CAD model of the upper structure. It contains an electric piston
which has a lighter weight than a hydraulic piston, and three V-slots that support the belt-driven
actuators. The V-slots are necessary since it makes it possible to assemble one belt-driven actuator
on another. The earlier CAD model (figure 19) turned out not to be valid when it comes to the
assembly of two belt-driven actuators at the same time.
Alexander Kivelä Iowa State University 05/23/2020
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5. Discussion
5.1 Assumptions, Constraints and Dependencies
The project team had to make several assumptions once the problem statement was given by Boeing
due to initial sizing and scale. First, the team had to assume aircraft wing dimensions. A lot of
information of exact sizing and dimensions of a Boeing 777X is classified, so the team did not have
access or clearance to exact numbers. Next, similar to dimensions, the weight of the aircraft wing
had to be assumed. After some research, the team found some aircrafts to compare the Boeing
777X. Lastly, the team had to assume the area requirements which was going to be where the
prototype operates. A full-scale model of the design would need to be made in order to operate in
Boeing’s Everett, WA facility. Obviously, this prototype is thought to be scaled down, therefore, the
team was going to use the Howe Hall Atrium at Iowa State University to test and operate the
prototype, a space which is not as great as a Boeing facility, but big enough for the prototype to
locate itself in.
The size and scale brought up a lot of constraints. First, a concern was to find components that were
compatible with the particular scale, which is around a 1/10th scale. For example, the linear actuators
that are capable of performing what is necessary are difficult to find at this small size, and when one
was found, the price became a small issue. Next, weight was neglected due to area and scale
limitations. Even the scaled down version of the Boeing 777X wing is too large to replicate in this kind
of environment and with the team’s resources that was available.
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6. Summary and Future Work
6.1 Summary
The Boeing Manufacturing Team has during the semester worked towards finalizing the mission
statement that was assigned by Boeing which was to build a scaled down automated system capable
of transporting a Boeing 777X wing from any point in the workspace to the fuselage, and then
complete the full wing-to-body process. The team has been split up into two sub teams, Boeing
Structure and Boeing Automation where the work has been divided between one team building the
prototype through research and modeling, while the other team has focused on completing the
coding for pre-determined paths and the assembly of all electronics. Due to the COVID-19 pandemic,
there has been restrictions on physical participation, causing delays and therefore an incomplete
prototype both from the Structures Team and the Automation Team. The current accomplishments
are finalized CAD models of the prototype, deliverables of all the necessary parts and components
for building the prototype, the assembly of the base structure, and the finalized code for the
autonomy of the prototype.
6.2 Future Work
Since this is an ongoing project at the Make to Innovate Department, the teams will finalize what was
not accomplished this semester for the upcoming one, regardless of whether the team will consist of
new members or not. Regarding the Structures Team the upcoming tasks mainly consists of building
the upper structure, to connect the upper structure with the base structure, and to finalize the circuit
schematic for the A4988 module in order to run the stepper motors in the linear actuators. The
possibilities to finalize this project for the Structures Team are great since all the deliverables are
complete, the CAD models for the prototype exists, and a guideline for creating the circuit schematic
for the A4988 module such as the Arduino sketch exist. Regarding the Automation Team, the
upcoming tasks are still not very clear since the author of this report belonged to the Structures
Team. Thus, the current conditions for finalizing the project for the Automation Team is at the time
of writing unknown.
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7. Sources
[1] https://www.estreetplastics.com/black-plexiglass-sheets-s/75.htm
– Deliverable of black Plexiglas plate.
[2] https://www.andymark.com/
– Deliverables of mecanum wheels and gear motors.
[3] https://openbuildspartstore.com/
– Deliverables of linear actuators and stepper motors.
[4] https://www.mcmaster.com/33125T821
– Deliverable of angle struts.
[5] https://www.mcmaster.com/
– Deliverables of T-slots, V-slots, angles strut brackets, L-brackets, aluminum rails,
rail supports, metal plates, screws, bolts, and nuts.
[6] https://www.amazon.co.uk/ref=nav_logo
– Deliverables of breadboard (for prototyping all the electronics), jumper wires, and
capacitor (100µF).
[7] https://www.banggood.com/Wholesale-Electronics-c-
1091.html?version=1&from=nav&akmClientCountry=SE
– Deliverable of A4988 stepper motor driver.
[8]
https://www.aliexpress.com/item/32688359779.html?cv=565204&af=318840&aff_platform=aaf&afr
ef=https%3A%2F%2Fse.redbrain.shop%2F&sk=Y7bAZbY&aff_trace_key=dc38b581f0db4e2f8ebc2efd
95ea88f4-1590059713937-05248-
Y7bAZbY&cn=15647&dp=565204%3A%3A318840%3A%3AEAIaIQobChMIptWU9enE6QIVyhsYCh3J6w
A7EAQYCCABEgJuNfD%7EBwE%3A%3A%3A%3A1590059713&terminal_id=2a5357fe33f84038ab6872
f1acd37c5d&aff_request_id=dc38b581f0db4e2f8ebc2efd95ea88f4-1590059713937-05248-Y7bAZbY
– Deliverable of electric piston.
[9] https://howtomechatronics.com/tutorials/arduino/how-to-control-stepper-motor-with-a4988-
driver-and-arduino/
– Information on how to control a stepper motor with A4988, how to structure a
circuit schematic, and how to create an Arduino sketch.
[10] https://www.boeing.com/commercial/777x/
– Data collection from an original scale Boeing 777X commercial aircraft.
[11] https://www.youtube.com/watch?v=iTsWy9z32G0
– How to operate with mecanum wheels.
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[12] https://www.youtube.com/watch?v=J3lGMeB9fGA
– Assembly orientation of the base structure of a robot.
[13] https://www.youtube.com/watch?v=tHn-gffborc&t=2s
– Assembly of a belt-driven linear actuator and how it will work.
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8. Appendix
Appendix A, Weekly Reports
All the weekly reports are shown below in PDF files, with an evaluation of self-performance every
week and upcoming tasks. Note that the reports focus on individual performance, and not what the
team has accomplished, since this was a requirement. Also, note that no report for week 1 and week
10 exists, since the project did not start at week 1, and the COVID-pandemic resulted in a break
during week 10.
M2I Report Week
2.pdf
M2I Report Week
3.pdf
M2I Report Week
4.pdf
M2I Report Week
5.pdf
M2I Report Week
6.pdf
M2I Report Week
7.pdf
M2I Report Week
8.pdf
M2I Report Week
9.pdf
M2I Report Week
11.pdf
M2I Report Week
12.pdf
M2I Report Week
13.pdf
M2I Report Week
14.pdf
M2I Report Week
15.pdf
Appendix B, Budget Chart Structures Team
This annex refers to an Excel file with a budget chart for the Structures Team, created by the project
manager, Austin Mendoza. It contains an estimated cost of the most expensive parts and has been
approved by the instructors.
Budget Chart.xlsx
Appendix C, Parts and Material List
This annex refers to an Excel file where all the parts, materials, and components were attached to
keep track on what is needed for the assembly. The document shows parts and materials, a
description, the price, and from which website they were found.
Materials List.xlsx
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Appendix D, Pictures of Parts and Components
Figure 21. Base Structure Assembly.
Figure 22. Drawings and Dimensions for Angle Strut.
Figure 23. 3D-Printed Hub Made in CAD.
Figure 24. Mecanum Wheel With Hub and Without Hub.
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Figure 25. Drawings and Dimensions of L-Bracket.
Figure 26. Drawings and Dimensions of NeveRest Classic 60 Gearmotor.
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Figure 27. Drawings and Dimensions of Nema 17 Stepper Motor.
Figure 28. Drawings and Dimensions of Electric Piston.