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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.


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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

[email protected]

Daniel Sisco Student Automation Team Member

[email protected]

Thomas Burkhart Student Automation Team Member

[email protected]

David Gunger Student Structures Team Member

[email protected]

Alexander Kivela Student Structures Team Member

[email protected]

Jane Karpinsky Boeing Representative Technical Advisor [email protected]

Matthew Nelson Instructor Faculty Advisor [email protected]

Christine Nelson Instructor Faculty Advisor [email protected]

mailto:[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.


▪ Complete a full structural assembly of the rover.

➢ Automation Team


▪ Have code installed and be able to use a remote control to handle the rover.


▪ 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.


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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.

https://www.estreetplastics.com/black-plexiglass-sheets-s/75.htm

https://www.andymark.com/

https://openbuildspartstore.com/

https://www.mcmaster.com/33125T821

https://www.mcmaster.com/

https://www.amazon.co.uk/ref=nav_logo

https://www.banggood.com/Wholesale-Electronics-c-1091.html?version=1&from=nav&akmClientCountry=SE

https://www.banggood.com/Wholesale-Electronics-c-1091.html?version=1&from=nav&akmClientCountry=SE

https://www.aliexpress.com/item/32688359779.html?cv=565204&af=318840&aff_platform=aaf&afref=https%3A%2F%2Fse.redbrain.shop%2F&sk=Y7bAZbY&aff_trace_key=dc38b581f0db4e2f8ebc2efd95ea88f4-1590059713937-05248-Y7bAZbY&cn=15647&dp=565204%3A%3A318840%3A%3AEAIaIQobChMIptWU9enE6QIVyhsYCh3J6wA7EAQYCCABEgJuNfD%7EBwE%3A%3A%3A%3A1590059713&terminal_id=2a5357fe33f84038ab6872f1acd37c5d&aff_request_id=dc38b581f0db4e2f8ebc2efd95ea88f4-1590059713937-05248-Y7bAZbY






https://howtomechatronics.com/tutorials/arduino/how-to-control-stepper-motor-with-a4988-driver-and-arduino/

https://howtomechatronics.com/tutorials/arduino/how-to-control-stepper-motor-with-a4988-driver-and-arduino/

https://www.boeing.com/commercial/777x/

https://www.youtube.com/watch?v=iTsWy9z32G0


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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.

https://www.youtube.com/watch?v=J3lGMeB9fGA

https://www.youtube.com/watch?v=tHn-gffborc&t=2s


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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.

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