Seattle Pacific University · Web viewS004 – Complete Pass Labeled warnings are clearly marked on...

Q3 R.I.M. Functional Specification Test Results

Alex Tran - ME

David Meyer – ME

Linnea Weicht – ME

Grant Kalfus – CPE

Kieran Jackson – EE

Team: Arm’n’Geddit

Senior Design Spring 2019

Seattle Pacific University

May 14th, 2019

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Table of ContentsIntroduction and Specification Summary…………………………………………………….……………………………………………3

Payload Test (T001)……………………………………………………………………………………………………………………………...... 4

Observation Test (T002)………………………………………………………………………………….……………………………………….7

Joint Limits Test (T003)………………………………………………………………………………….……………………………………….10

IP Liquid Test (T004)……………………………………………………….………………………………………………………………………13

Temperature Test (T005)…………………………………………….…………………………………………………………………………17

Positional Accuracy Test (T006)………………………………….………………………………………………………………………….20

Speed Test (T007)………………………………………………………….……………………………………………………………………….26

Run Time Test (T008)……..........................................................……………………………………………………………….29

Power Control and Indication Test (T009)….........................……………………………………………………………………32

Power Consumption Test (T010)………..................................…………………………………………………………………..35

Range Test (T011)……………………………………………………………………..…………………………………………………………..38

Hazard Communication Test (T012)……...............................……………………………………………………………………41

Weight Test (T013)………...................................................……………………………………………………………………….44

Electronics Housing Test (T014)……….............................………………………………………………………………………….47

Longevity Test (T015)……………................................................…………………………………………………………………50

Appendix A: RIM Usage in Test Plans………………………………………………………………………………………………….....53

Appendix B: Detailed Speed Test Results....................................……………………………………………………………..58

Appendix C: Detailed Positional Accuracy Test Results …………….……………………………………………………….......61

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IntroductionThis document details the tests that are necessary to verify that each of the Robotic Item Manipulator’s (RIM’s) specifications have been met. The test plans are given identification numbers 1-15; however, they do not need to be carried out in any particular order, as each test is independent of the others. The tests are written so that any individual with a basic technical background should be able to carry them out.

Specifications TableTest ID Specification IDs Specification NamesT001 M001 PayloadT002 C001 Control Method

M004 Degrees of FreedomP001 Wire Shielding

T003 D002 Joint LimitsT004 P003 IP LiquidT005 E001 Hot Temperature

E002 Cold TemperatureT006 M003 Positional AccuracyT007 M002 SpeedT008 E003 Run TimeT009 S001 Emergency Cutoff

S002 Indicator On/OffT010 E004 Power ConsumptionT011 D001 RangeT012 S003 Arm Hazard Communication

S004 Area Hazard CommunicationT013 D003 WeightT014 P004 Electronics HousingT015 P002 Longevity

Key

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Not Passed Partial Pass Passed


Specification Test PlansTeam/Project: Arm’N’Geddit – RIMTest Name: Payload TestTest ID Number: T001Relevant functional specification(s) being tested:

M001 – Payload

Type of test Black Box White BoxPurpose of test and test summary including number of replicates of test

The purpose of the test is to determine the maximum payload the RIM will be able to carry from one location to another. If the arm moves the payload successfully, the weight may be increased during the next iteration until a maximum is reached. The test should be done 10 times in order to have confidence in the validity of the results.

Equipment List: Varying masses, zip tiesNecessary dummy inputs, their source, and mechanism for validation of dummy inputs:

Not applicable

Description and / or images of test setup

Set-up procedure:1. Initialize RIM using the protocol in the appendix.2. Upload the input script, ‘Payload_Test_1.rime’.3. Load the arm using a mass of weight equal to 1 lb. and secure it with a

zip tie.

Test movement with weight:4. Run the script

Results and Iteration:5. If the arm successfully moves with the payload, the threshold has been

met. Repeat steps 3 and 4 using a mass of greater weight.6. Once the maximum payload has been reached, run the input script 10

times with the maximum payload secured to the end effector.

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Inputs or input ranges to be used (include number or test points and increments)

Input script: ‘Payload_Test_1.rime’. This script will command the arm to move from the stow position to a fully extended position and back to stow.

Payload weight: 1 lb to 6 lbs

Anticipated results/outcomes

In order to pass the M001 threshold specification, the arm must move with at least a 1lb payload. If the arm moves with at least a 6 lb payload, the objective has been met.

Payload Test Results (T001)

Date/Time of testing:

05/08/201914:50

Test participants: Test Lead: Alex TranTest Support: David Meyer, Grant Kalfus, Kieran Jackson, Linnea Weicht

Test ID Number: T001Relevant functional specification(s) being tested:

M001 – Payload: The device shall be able to operate from any position to any other position with at least a 1lb payload and should remain functional with at least a 6lb payload.

Test ResultsM001 – Complete Pass

The device is capable of lifting threshold weight of 1lb. without assistance. We have performed extensive testing with weights up to 2.2 lbs.

Test DeviationsNot applicable.

Test Results (circle)

Complete Pass Partial Pass Fail

Test CommentaryWhen initially testing, we tried to find our maximum weight limit and caused joint three, the elbow, to break in the process (at 5.5 lbs). This was due to a manufacturing error, which we then fixed. After that we completed the test using 2.2 lbs and have refrained from trying to find the maximum weight again. The motors themselves were successful in lifting 5.5 lbs, so we predict the arm should be able to meet

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its objective. However, to ensure that we were able to finish our testing, we did not try to test with such high weight again.


Signoff

Name Signature RoleKieran Jackson Electrical Engineer

Grant Kalfus Computer Engineer

David Meyer Mechanical Engineer

Alex Tran Mechanical Engineer

Linnea Weicht Mechanical Engineer

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Team/Project: Arm’N’Geddit – RIMTest Name: Observation TestTest ID Number: T002Relevant functional specification(s) being tested:

C001 - The Control SpecM004 - Degrees of Freedom SpecP001 - Wire Shielding Spec


The purpose of this test is to observe that the RIM is performing as outlined in the various specifications. The reason that these three specs were chosen to be included within this test is because all three are easily confirmed via observations. For M004, if the RIM is able to move all six of its joints simultaneously, then the spec has been met. For the C001, if the user is able to program the script and if the script is able to be executed, then the spec’s threshold has been met. If the user is able to use a motion controller to guide the RIM, then the spec’s objective has been met. P001 is a pass/fail spec: if the wire shielding is present on the RIM, then the spec has been met.

Equipment List: Not applicableNecessary dummy inputs, their source, and mechanism for validation of dummy inputs:

Not applicable


Control Spec:1. Set up Oculus Motion sensors (If met)2. Connect RIM UI to the PSoC3a. Select OVR/Precise Execution Mode3b. Load any RIM execution file (if doing precise execution mode)4. Click Start

Degrees of Freedom Spec:1. Connect RIM UI to the PSoC2. Select Programmed Execution Mode3. Load up the MultiMove_Test_1.rime script4. Click Start

Wire Shielding Spec:1. By observation, check that the cables are bundled and contained within

a protective shield

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Not applicable


C001: User able to control via script – Threshold pass. User able to control via motion controller – Objective passM004: If the RIM is able to move 4 joints without failing, then threshold has been passed. If it’s able to move 6 joints, then objective has been passed. P001: If the RIM has wire shielding, then the spec has been met.

Observation Test Results (T002)

Date/Time of testing:Test participants: Test Lead: Grant Kalfus

Test Support: David Meyer, Alex Tran, Kieran Jackson, Linnea WeichtTest ID Number: T002Relevant functional specification(s) being tested:

C001 – Control Method: The system shall be controlled by an automated script that will be programmed prior to its runtime.

M004 – Degrees of Freedom: The device shall have at least 4 degrees of freedom and should have at least 6 degrees of freedom.

P001 – Wire Shielding: The device will have tinned copper braided shielding to prevent electro-magnetic field interference, or “cross-talk”.

Test ResultsC001 – Complete Pass

The system is capable of retrieving and executing automated scripts.

M004 – Complete Pass

The device is able to articulate 6 individual joints, for a total of 6 degrees of freedom.

P001 – Complete Pass

Wires carrying higher current for the motor are protected using tinned copper braiding to prevent cross talk between power lines and signal lines from the encoders. Encoder cables are protected using standard Polyethylene Terephthalate (PET) sleeves.

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Test CommentaryNot applicable.

Signoff






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Team/Project: Arm’N’Geddit – RIMTest Name: Joint Limits TestTest ID Number: T003Relevant functional specification(s) being tested:

D002 – Joint Limits


This test is performed to ensure that the RIM will not execute commands that force it into an impossible position, or a position that would cause any of the RIM’s parts to sustain significant damage. This test will go through and send commands to each joint. Some commands will ask a joint to go beyond its defined boundary. The RIM is expected to not execute these commands.


Not applicable


1. Connect the RIM UI to the PSoC2. Initialize the RIM as described in the appendix.3. Select Programmed Execution Mode4. Load the JointLimits_Test_1.rime script5. The script will record when the RIM doesn’t execute a command and

output it to a text file6. Compare the results of the generated file to a chart of expected

responses 7. If all responses are the same, then the test is successful.


Input script: ‘JointLimits_Test_1.rime’ - This script will be built to test each joint one at a time. Within this script, each joint will have a series of inputs—some of which are valid and some of which are not valid. For inputs that are not valid, the RIM is expected to inform the user via a message box, and halt execution until the user acknowledges the text box. The RIM will then continue to execute the script as if the invalid command was not sent.Testing all 6 joints, each joint will execute a series of 10 commands. 5 of these

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commands will be designed such that they overrun joint boundaries. Anticipated results/outcomes

If the RIM is able to complete the script without stalling or hitting joint limits, then the test is successful.

Joint Limits Test Results (T003)

Date/Time of testing:Test participants: Test Lead: Linnea Weicht

Test Support: David Meyer, Grant Kalfus, Kieran Jackson, Alex TranTest ID Number: T003Relevant functional specification(s) being tested:

D002 – Joint Limits: The device will contain joint limits to prevent it from colliding with itself.

Test ResultsD002 – Partial Pass

One of the three modes that the RIM operates in, Traverse Line Mode, has joint limits implemented to prevent the arm from going to positions outside of its safe operating zone. Precise Execution Mode and Programmed Execution Mode do not have joint limits implemented.

Test DeviationsInstead of using one input script, we went through and examined each mode we had designed to control the arm. We felt that this test should have focused on all modes instead of just Programmed Execution Mode.



Test Commentary

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The RIM had joint limits implemented in Traverse Line Mode and not in Programmed Execution Mode or Precise Execution Mode. By extension, this would mean that Oculus Virtual Reality Mode (motion control) would also have joint limits, as it would invoke the same MATLAB script as Traverse Line Mode does. We believe that this partial pass is not detrimental to the project overall, as the main goal of this project is to replace a human in a hazardous environment. Precise and Programmed Execution Mode are more for demonstration and troubleshooting purposes, while Traverse Line Mode and Oculus Virtual Reality Mode are to be utilized for everyday control of the arm.

Signoff






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Team/Project: Arm’N’Geddit – RIMTest Name: IP Liquid TestTest ID Number: T004Relevant functional specification(s) being tested:

P003 – IP Liquid


This test is to determine if the arm has been designed to meet IP liquid rating as specified. The desired liquid rating is a threshold of 1, which is dripping water (falling only vertically) and an objective of 4, which is splashing water (from any direction). The protective sleeve will be placed on a similarly shaped object, most likely a human arm, in order to preserve the RIM in the case of a test failure.

Note that we are not actually testing and verifying that the system meets the IP rating; rather, we are simply showing that it was designed to meet that rating.

Equipment List: Cup of water, eyedropperNecessary dummy inputs, their source, and mechanism for validation of dummy inputs:

Not Applicable


Follow the steps listed below. If at any point one of the steps fails, end the test.

Set up procedure:1. Place the protective sleeve on the arm or similar object.

IP rating 1:2. Pick up water with an eyedropper and let 3-10 drops fall vertically on

the sleeve.3. Repeat step 2 twenty times at varying locations along the arm. 4. Remove the sleeve carefully (without allowing the water on the sleeve

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to slide onto the arm itself) and check the arm for moisture. If there is none the test is successful and the sleeve is designed for an IP rating of at least 1.

IP rating 2:5. Carefully place the protective sleeve back on the arm.6. Rotate the arm 15 degrees from vertical.7. Repeat steps 2 and 3.8. Carefully remove the sleeve and check the arm for moisture. If there is

none, the test is successful and the sleeve is designed for an IP rating of at least 2.

IP rating 3:9. Carefully place the protective sleeve back on the arm.10. Rotate the arm 60 degrees from vertical.11. Fill the eyedropper with water, and let all of that water fall onto the

sleeve. Repeat this twenty times at varying locations along the arm. 12. Carefully remove the sleeve and check the arm for moisture. If there is


IP rating 4:13. Carefully place the protective sleeve back on the arm.14. Splash water from the cup onto the sleeve. Repeat this twenty times at

varying locations along the arm.15. Carefully remove the sleeve and check the arm for water. If there is



Not Applicable


The threshold is met if the protective sleeve is designed to meet an IP rating of at least 1. The objective is met if the protective sleeve is designed to meet an IP rating of 4.

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IP Liquid Test Results (T004)


5/5/2019 @ 12:50 pm

Test participants: Test Lead: Linnea WeichtTest Support: David Meyer, Grant Kalfus, Kieran Jackson, Alex Tran


P003 – Spill Protection: The arm shall have a cover that is designed to meet an IEC Liquid IP rating of at least 1, and it should be designed to meet an IEC Liquid IP rating of at least 4. (See http://www.dsmt.com/resources/ip-rating-chart/)

Test ResultsP003 – Complete Pass

The arm successfully passed all parts of this test. The material is waterproof, and this will not change. There is no numerical data for the test, but there is a video documenting the sleeve resisting water.

Test DeviationsWe initially tested with drops of water, but seeing that the sleeve was waterproof, we skipped straight to IP rating 4 testing which was successful.



Test Commentary

http://www.dsmt.com/resources/ip-rating-chart/

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The sleeve as it stands right now has seams, which over multiple uses have the potential to fail, even though it passed this series of tests. We would ideally create the sleeve from a single piece of material, but we were constrained by the Tyvek suit we used.


Signoff






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Team/Project: Arm’N’Geddit – RIMTest Name: Temperature TestTest ID Number: T005Relevant functional specification(s) being tested:

E001 – Hot TemperatureE002 – Cold Temperature


The purpose of the test is to determine whether or not RIM will be functional in temperatures as low as 32o Fahrenheit and as high as 100o Fahrenheit, as written in specifications E001 and E002. In order to do this, the RIM will be asked to operate in a hot and cold location, which will be determined at a later time.

Equipment List: ThermometerNecessary dummy inputs, their source, and mechanism for validation of dummy inputs:

Not applicable


Carry out the procedure ten times for the hot location and ten times for the cold location.

Set up procedure:1. Move the RIM to the hot or cold location respectively.2. Use the thermometer to record the temperature.3. Initialize the arm using the start-up protocol as described in the

appendix.

Main Test:4. Load the input script, ‘Temperature_Test_1.rime’.5. Run the input script.6. If step 5 is successful repeat it ten times.

Inputs or input Input script: ‘Temperature_Test_1.rime’ - This script will move RIM through its

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ranges to be used (include number or test points and increments)

full range of motion for a reasonable amount of time in order to simulate its use in a hot and a cold location.


The tests are successful if the RIM is able to execute the input script without unexpectedly stopping.

Temperature Test Results (T005)

Date/Time of testing:Test participants: Test Lead: David Meyer

Test Support: Alex Tran, Grant Kalfus, Kieran Jackson, Linnea WeichtTest ID Number: T005Relevant functional specification(s) being tested:

E001 – Hot Temperature: The device shall be operational in temperatures at or above 75 degrees Fahrenheit and should be operational in temperatures at or above 100 degrees Fahrenheit.

E002 – Cold Temperature: The device shall be operational in temperatures at or below 50 degrees Fahrenheit and should be operational in temperatures at or below 32 degrees Fahrenheit.

Test ResultsE001 – Complete Pass

E002 – Complete Pass

The arm successfully completed its ten temperature test scripts in both the hot environment and the cold environment. The cold environment was Eaton room 134. The RIM and a thermometer are shown in the picture below.

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Cold Temperature Test Hot Temperature Test





Signoff



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Team/Project: Arm’n’geddit—RIM Test Name: Positional Accuracy TestTest ID Number: T006Relevant functional specification(s) being tested:

M003 – Positional Accuracy


The goal of this test is to show that the arm can indeed move to a target position within a specified amount of accuracy.

To do this we will use a RIM executable file that will tell the arm to move to a specific position. We will then measure this position and compare our result to the expected result. We will repeat this process ten times each for five varying positions.

Equipment List: Portable CMM, Retro Reflector Targets, Hot Glue, Target Holders, Software: SpatialAnalyzer

Necessary dummy inputs, their source, and mechanism for validation of dummy inputs:

Not applicable

Description and / or images of test

Follow the procedure outlined below:

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setup Prepare RIM system for measurements:1. Secure the RIM system so that the base does not move during this

process.2. Mount the target holder to the end of the wrist.

Start RIM system:3. Start RIM and load the RIM UI (See appendix for details).4. Load the RIM executable file called PositionalAccuracy_Test_1.rime

Start CMM system:5. Set up a tripod to hold the portable CMM.6. Mount portable CMM on tripod and wait at least 30 minutes for warm-

up period.

Measure the origin of the RIM system:7. Have one person hold the reflector target against the cylinder of the

base. (See picture on next page)

8. Measure 20 points along the face of the curve to define a cylinder. This will define the z-axis of the arm’s origin.

9. Place targets on the exposed horizontal corner surfaces.

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10. Measure at least 4 points along this surface to define an x-y plane. 11. Hold targets along the x face of the square base.

12. Measure at least 4 points along this surface to define the direction of the x-axis.

13. Hold targets along the y face of the square base.

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14. Measure at least 4 points along this surface to define the direction of the y-axis.

15. Define an origin to be the intersection of the z-axis with the x-y plane where the x-axis is in line with the measured x-axis.

16. Measure the z offset. This measurement is shown below, but the number needs to change to be accurate to RIM’s fabricated assembly.

17. Apply the transformation to the origin accounting for the measured z offset.

Measurement Process for Position 1:18. Measure End Effector in Stow Position, located in the script.19. Command the RIM arm to move to Position 1. Measure the End Effector

in position 1. 20. Repeat steps 18 and 19 nine more times for a total of 20

measurements. (10 measuring the stow position and 10 measuring position 1 of the end effector)

Measurement Process for Positions 2-5:21. This process is the same as the process outlined in steps 18-20;

however, the subsequent positions must be unique.

How to use the data:22. Export all of the measured points to excel.23. Calculate the difference between the target positions and the

measured positions. (X, Y, Z)-deltas.

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24. Average the 10 measurements.25. Calculate the total magnitude of the displacement from the expected

target position using the following equation. This value determines whether you pass the specification, and it represents the error from nominal to actual.

Total Displacement=√(dx )2+(dy )2+ (dz )2

dx=Xactual−X targetdy=Y actual−Y targetdz=Zactual−Z target


‘PositionalAccuracy_Test_1.rime’‘PositionalAccuracy_Test_2.rime’‘PositionalAccuracy_Test_3.rime’‘PositionalAccuracy_Test_4.rime’‘PositionalAccuracy_Test_5.rime’

The above scripts will move the RIM arm between two points: the stow position and the end effector test position. The test plan will be updated with numbers once the scripts are built.


We will be meeting our threshold if the calculated total displacement for each position is less than 1”, and we will be meeting our objective if the calculated total displacement for each position is less than 0.1”.

Positional Accuracy Test Results (T006)



M003 – Positional Accuracy: The end effector shall arrive within +/- 1.00” of its targeted point and should be within +/- 0.10” of its target.

Test Results

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M003 – Complete Pass

The averaged results from this test are recorded in the table below. The individual test point results that contributed to the average are listed in tables in appendix C.

Target (mm) Average (mm) Std. Dev. From

Average (mm)

X Y Z X Y Z Magnitude Error

Point 1 400 400 400 397.34495 402.3192 403.78056 5.3983 1.2904Point 2 0 628 270 -4.420175 627.136045 275.45006 7.1897 1.2756Point 3 130 380 490 124.7274895 380.8159474 496.5979737 8.1688 1.1183Point 4 -206 -253 762 -205.2203706 -252.2614059 767.9369353 5.9933 0.6739Point 5 500 0 300 499.6373438 2.70985 305.8059438 6.4404 0.7282

Average Deviation (mm) 6.6381 ± 1.0172Average Deviation (in) 0.26134 ± 0.0400




Test Commentary Not applicable.

Signoff

Name Signature Role

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Kieran Jackson Electrical Engineer






Team/Project: Arm’N’Geddit – RIMTest Name: Speed TestTest ID Number: T007Relevant functional specification(s) being tested:

M002 – Speed


This test will verify that the RIM is able to get from one point from any other point in less than 20 seconds as dictated by M002. This test will tell the RIM to move between two maximally distant points. This test will be team Arm’n’geddit’s statistically verified spec, so we expect to perform this test at least 50 times.

Equipment List: Not applicable. Necessary dummy Not applicable.

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inputs, their source, and mechanism for validation of dummy inputs:Description and / or images of test setup

1. Connect the RIM UI to the PSoC2. Initialize the RIM as detailed in the appendix.3. Select Programmed Execution Mode4. Load the Speed_Test_1.rime script5. All recorded times will be saved to a csv file6. Look though the saved csv file and verify that all times meet spec


A script will be built that guides the RIM along two sets of maximally distant points: one set of vertical points and one set of horizontal points. The RIM UI will automatically time how long it takes for the RIM to move between the maximally distant points.

The test script, Speed_Test_1.rime, will ask the RIM to fully extend all of its joints such that it is parallel to the surface the base rests on. Then it will actuate the motors reorienting the RIM into a new position and orientation opposite to that of its original position.


This test will prove that the RIM is able to move between any two points within its threshold of less than 20 seconds and its objective if movements are made in less than 10 seconds.


Speed Test Results (T007)

Date/Time of testing:Test participants: Test Lead: Grant Kalfus

Test Support: David Meyer, Linnea Weicht, Kieran Jackson, Alex TranTest ID Number: T007Relevant functional specification(s) being tested:

M002 – Speed: Within the operational area, the device shall be able to move from any point to any other point in less than 20 seconds and should be able to move that same distance in less than 10 seconds.

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Test ResultsM002 – Complete Pass

Vertical Speed Between two maximally distant points

NMean (ms)

StDev (ms)

SE Mean

99.999% CI for μ

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14670.8 6.6 0.9 (14666.6, 14674.9)

Known standard deviation = 6.61032ms

Horizontal Speed Between two maximally distant points

NMean (ms)

StDev (ms)

SE Mean

99.999% CI for μ

50

10119.2 2.7 0.4 (10117.6, 10120.9)

Known standard deviation = 2.66925ms

The tables of 50 results for each test are documented in appendix B.




Test CommentaryWe have verified that for a confidence interval of 99.999% with a sample size of 100 total, the RIM is meeting threshold specifications.

Signoff


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Team/Project: Arm’N’Geddit – RIMTest Name: Run Time TestTest ID Number: T008Relevant functional specification(s) being tested:

E003 – Run Time

Type of test Black Box White BoxPurpose of test and test summary

This test is to verify that the RIM can operate for a constant duration of 15 minutes. The RIM must be able to manipulate chemical solutions within this

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including number of replicates of test

time, and each task itself can take up to 5 minutes, hence the total minimum time of 15 minutes. The RIM will be replacing a human, meaning that it must match or exceed the time that a human would take to do this process.

Equipment List: Not applicable.Necessary dummy inputs, their source, and mechanism for validation of dummy inputs:

Not applicable.


Procedure (repeat 5 times):

1. Turn on the power to the RIM and verify that it is receiving power via the LED indicator.

2. Start the RIM UI using the procedure detailed in the appendix. 3. Load the ‘RunTime_Test_1.rime’ script through the ‘Programmed

Execution’ mode within the UI. The arm should begin from its ‘home’ position and start performing the repeated tasks within the .rime script.

4. While the RIM runs, watch for any errors. Errors might include the RIM getting caught on itself, drawing too much current and shutting down, and overheating and shutting down.

5. If any of the errors outlined in step 3 occur, shut down the system and use the ‘RunTime_Test_2.rime’ script to perform this test instead.


Input scripts:RunTime_Test_1.rime (30 minutes)RunTime_Test_2.rime (15 minutes, if 30min fails)


The RIM is expected to be able to reliably operate for at least 15 minutes and should be able to run for 30 minutes.

Run Time Test Results (T008)


5/10/1917:50

Test participants: Test Lead: Linnea WeichtTest Support: David Meyer, Grant Kalfus, Alex, Kieran Jackson

Test ID Number: T008Relevant functional E003 – Run Time: The device shall be able to operate for a constant duration of

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specification(s) being tested:

at least 15 minutes and should be able to operate for at least 30 minutes.

Test ResultsE003 – Complete Pass

The arm was loaded with the test script and was able to execute commands for the full 30-minute duration without overheating or failing in any manner. We have also run multiple testing sessions exceeding at least 8 hours, so this has increased our confidence in passing this test.




Test CommentaryThe RIM also ran successfully for the duration of the Erickson poster session, which was 35-40 minutes.


Signoff

Name Signature Role

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Team/Project: Arm’N’Geddit – RIMTest Name: Power Control and Indication TestTest ID Number: T009Relevant functional specification(s)

S001 – Emergency Cutoff S002 – Power Indicator LED

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being tested:Type of test Black Box White BoxPurpose of test and test summary including number of replicates of test

The purpose of this test is to ensure that the RIM is clearly seen as on or off, and to ensure that the RIM can be shut off via an emergency switch. In any scenario, the RIM must be able to be shut down without fail.

Equipment List: Not applicable.Necessary dummy inputs, their source, and mechanism for validation of dummy inputs:

Not applicable.


Procedure (repeat steps 2-4 five times)1. Connect the RIM to a wall outlet.2. Verify that the power indicator is on and ensure that the RIM is in the

‘Stow’ position. 3. Once verified, flip the emergency switch and check the power indicator.

If the indicator is off, then the switch is functioning as expected. 4. Return the emergency switch to the ‘on’ position.


Not applicable.


The RIM’s emergency switch and power indicator LED should both function properly.

Power Control and Indication Test Results (T009)

Date/Time of 5/4/2019 @ 12:00 PM

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testing:Test participants: Test Lead: Kieran Jackson

Test Support: David Meyer, Grant Kalfus, Alex Tran, Linnea WeichtTest ID Number: T009Relevant functional specification(s) being tested:

S001 – Emergency Cutoff: The system shall have a physical power cutoff switch. The system should have automatic stall detection and termination protocol.

S002 – Indicator for On/Off: The system will have a LED to indicate that the device is in operation.

Test ResultsS001 – Complete Pass

S002 – Complete Pass

The switch and LED power indicator are functioning as expected. When the switch is turned off, the system also powers off.






Signoff

Name Signature Role

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Team/Project: Arm’N’Geddit – RIMTest Name: Power Consumption TestTest ID Number: T010Relevant functional specification(s)

E004 – Power Consumption

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This test is to verify that the RIM will not exceed the amount of power supplied by the system’s power supply. More specifically, this test is needed in order to measure the peak wattage that the arm consumes while running in high stress scenarios. This will allow the RIM to operate with all motors running at once, the expected worst-case scenario for the RIM. The motor drivers that this system uses automatically detect stalling motors and cut power to them, meaning that maximum movement is the highest power scenario that can be fabricated.

Equipment List: Outlet wattmeterNecessary dummy inputs, their source, and mechanism for validation of dummy inputs:

Not applicable.


Procedure (repeat step 3 five times)

1. Connect a Wattmeter to the outlet that the RIM is normally plugged into.

2. Connect the power cord from the RIM to the outlet with this Wattmeter

3. Start the RIM UI using the procedure outlined in the appendix.4. Load and run the ‘PowerConsumption_Test_1.rime’ script and record

the peak wattage for each test run. 5. Average the peak wattage from each test and compare to the

anticipated results.


Not applicable.


The power consumption of the RIM shall not exceed 2400 W and should not exceed 1200 W.

Power Consumption Test Results (T010)

Date/Time of 5/4/2019 @ 3:00 PM

37

testing:Test participants: Test Lead: Kieran Jackson


E004 – Power Consumption: The device shall not exceed an operating wattage of 2400 W and should not exceed an operating wattage of 1200 W.

Test Results

E004 – Complete Pass

Iteration Peak Power Consumption (W)1 54.82 53.53 54.34 54.25 53.9

Average Peak Power Consumption (W) 54.14





Signoff

Name Signature Role

38







Team/Project: Arm’N’Geddit – RIMTest Name: Range TestTest ID Number: T011Relevant functional

D001 – Range

39

specification(s) being tested:Type of test Black Box White BoxPurpose of test and test summary including number of replicates of test

RIM must have a reasonable maximum reach to be effective for the user. The test will be conducted using a tape measure to determine the reach of the arm when it is fully extended. Since the components will not physically change dimensions, there is no need for multiple iterations of this test.

Equipment List: Tape MeasureNecessary dummy inputs, their source, and mechanism for validation of dummy inputs:

Not applicable


Set up procedure:1. Initialize the RIM using the set-up protocol described in appendix A.2. Move the RIM to the stow position.3. Upload and run ‘Range_Test_1.rime’.4. Use a tape measure to determine the length from the center of the base

to the end effector. Record the length.


Input script: ‘Range_Test_1.rime’ - This script is designed to extend RIM to its fullest reach and leave it there. This will allow the maximum range to be measured and recorded.


If the RIM measures at least 18 inches, the threshold has been met. If the RIM measures at least 24 inches, the objective has been met.


Range Test Results (T011)


5/1/19 21:30

40

Test participants: Test Lead: Alex TranTest Support: David Meyer, Grant Kalfus, Kieran Jackson, Linnea Weicht


D001 – Range: The device shall be able to reach at least 18 inches from the center of the base to the end effector at full extension and should be able to reach at least 24 inches.

Test ResultsD001 – Complete Pass

The arm was measured to maximally reach approximately 25.5 inches without the end effector. A picture of this measurement is shown below.

Test DeviationsWe decided to change our procedure for this test plan slightly. Due to delays in getting the arm up and running we have changed this test to not involve a script that moves to the max reach position. Instead, we have changed the test to move the arm manually to this position and simply measure the range with

41

a tape measure. This simplified the test and allowed us to keep progressing with our testing. Deviation of test plan does not affect the mechanical capabilities of the arm, the test results would is not affected by the deviation in test plan.




Signoff






Team/Project: Arm’N’Geddit – RIMTest Name: Hazard Communication TestTest ID Number: T012Relevant functional specification(s)

S003 – Arm Hazard CommunicationS004 – Area Hazard Communication

42


The goal of this test is to confirm that the hazard markings applied to the RIM are clearly visible by nearby personnel. There will be hazard markings both on the robot and the ground surrounding the arm. Hazard markings on the robot will be there to provide warnings of potential pinching and entanglement. Hazard markings on the ground will signify the “Keep Out Area” to ensure that those working around the arm know the arm’s range.

Equipment List: Tape MeasureNecessary dummy inputs, their source, and mechanism for validation of dummy inputs:

Not applicable.


Procedure:1. Visually confirm that the hazards signs for arm range are clearly

visible.2. Verify that the pinch and entanglement hazard markings on the arm

are clearly visible.Inputs or input ranges to be used (include number or test points and increments)

Not applicable.


The RIM will be labeled with pinch and entanglement hazard indicators. The RIM will also have the area of maximum range labeled. The tests are successful if each of these are present.

Hazard Communication Test Results (T012)


5/1/1922:10

43

Test participants: Test Lead: Grant KalfusTest Support: Alex Tran, David Meyer, Kieran Jackson, Linnea Weicht


S003 – Arm Hazard Communication: The system will be labeled with pinch and entanglement hazard indicators.

S004 – Area Hazard Communication: The area within the maximum reach of the arm will be labeled as a hazard zone with hazard indicators.

Test ResultsS003 – Complete Pass

S004 – Complete Pass

Labeled warnings are clearly marked on and around the arm. Additionally, there are hazard area markings on the ground surrounding the arm to communicate to keep the area clear.

Test DeviationsNot applicable


44


Test CommentaryWarning labels and markings are adequately sized so that they are easily recognized from over 20 feet away.

Signoff






Team/Project: Arm’N’Geddit – RIMTest Name: Weight TestTest ID Number: T013Relevant functional specification(s)

D003 - Weight

45


The purpose of this test is to verify that the RIM does indeed weigh less than our threshold and/or objective weights.

The user will use a scale with weights that have an already known value. Should the scale report expected values for these weights, then the user will proceed to weigh RIM to verify this specification.

Equipment List: Digital scale or platform scale and weightsNecessary dummy inputs, their source, and mechanism for validation of dummy inputs:

Not applicable


To perform this test, follow the procedure outlined below:

1. Obtain a scale that can hold the entirety of the project.2. Place weights on the scale that are a predetermined weight (25 lb.

weights from a weight room for example). If the scale reads the expected weight within ± 5 lbs., then proceed to the next step. If the scale does not read the expected weight, then finding a better scale is necessary.

3. Remove the weights from the scale and replace them with RIM. This includes the cabinet that RIM is mounted to, all of the electronics (excluding the PC and Oculus system), and the RIM arm.

4. Step 4: Record the weight value displayed on the scale.


25-pound weight from a weight room.


We will be meeting our threshold if the scale reads less than 250 lbs. We will be meeting our objective is the scale reads less than 150 lbs.

Weight Test Results (T013)

Date/Time of Monday 5/6/19

46

testing: 11:30Test participants: Test Lead: Alex Tran

Test Support: David Meyer, Grant Kalfus, Kieran Jackson, Linnea WeichtTest ID Number: T013Relevant functional specification(s) being tested:

D003 – Weight: The device shall weigh less than 250 lbs. and should weigh less than 150 lbs.

Test ResultsD003 – Complete Pass

The RIM weighs 57.4 lbs. combined with electronics, electronic housing, and display stand.






Signoff

Name Signature Role

47







Team/Project: Arm’N’Geddit – RIMTest Name: Electronics Housing TestTest ID Number: T014Relevant functional P004 – Electronics Housing

48

specification(s) being tested:Type of test Black Box White BoxPurpose of test and test summary including number of replicates of test

The purpose of this test is to verify that the RIM has been designed to meet a specified IEC Solid IP rating.

To do this, a checklist will be filled out with the threshold and objective specification components. This is described further in the description section.

Note that we are not actually testing and verifying that the system meets the IP rating; rather, we are simply showing that it was designed to meet that rating.


Not applicable


To run this test, the user will follow the procedure below: 1. Check to make sure that the drawer is closed holding the electronics. 2. Try to insert your whole hand into the space where the electronics are.

If you cannot do this, then the system has been designed for at least an IP Solids rating of 1.

3. Try to insert your smallest finger into the space where the electronics are. If you cannot do this, then the system has been designed for at least an IP Solids rating of 2. At this point, the threshold has been met.

4. Try to insert thick wires (13 gauge or thicker) into the space where the electronics are. If you cannot do this, then the system has been designed for at least an IP Solids rating of 3.

5. Try to insert thin wires (12 gauge or thinner) into the space where the electronics are. If you cannot do this, then the system has been designed for at least an IP Solids rating of 4. At this point, the objective has been met.


Not applicable


We will be meeting our threshold if we observe a design that shows an IP Solids rating of at least 2. We will be meeting our objective if that rating is shown to be at least 4.

Electronics Housing Test Results (T014)

49

Date/Time of testing:Test participants: Test Lead: Kieran Jackson


P004 – Electronics Housing: The device will have a housing designed to contain and protect the electrical components (excluding actuators, encoders, and wires). This shall be designed to meet an IEC Solid IP rating of at least 2, and it should be designed to meet an IEC Solid IP rating of at least 4.


Fingers are not able to touch any equipment within the electronics housing. We have passed our threshold of an IP Solid rating of 2. Wires of most sizes are able to fit, capping the housing at that rating.






Signoff

50







Team/Project: Arm’N’Geddit – RIMTest Name: Longevity TestTest ID Number: T015

51

Relevant functional specification(s) being tested:

P002 – Longevity


This test is to verify that the arm is designed to operate for 1 to 2 years without significant maintenance. Specifically, this includes wiring that minimizes pinching.


Not applicable


Set up procedure:1. Initialize the RIM using the start-up protocol detailed in appendix A.2. Upload and run the ‘Longevity_Test_1.rime’ script.3. Visually inspect that there is no pinching, twisting, or stretching of

cables during or after the script is run.


Input script: ‘Longevity_Test_1.rime’ – This script will move the RIM through its range of motion, including extremes. This is designed to identify any positions that may pinch wires or damage the RIM.


If the RIM shows no signs of pinched cables or frayed wires and has not collided with its own components during the ‘Longevity_Test_1.rime’ script, then it has passed this specification. If any wires are pinched or fray, or if the RIM collides with itself, then the specification has not been passed.


Longevity Test Results (T015)

52



P002 – Longevity: The device shall be designed in such a way as to remain operational for at least 1 year without significant maintenance, and it should be designed for at least 2 years without maintenance.


The RIM successfully completed the longevity test script without pinching any wires or running into itself.






Signoff

53







Appendix A – RIM UI Usage in Test Plans1. On the keyboard, press the “Windows” + “R” keys. Type “devmgmt.msc” and press “Enter”.

54

2. Device manager will open. Under “Ports (COM & LPT)” locate “Prolific USB-to-Serial Comm Port (COM#)”. The COM# tells you what port to select in the UI.

3. To open RIM UI, launch the program from its directory location.

55

You will now see a window that looks as follows:

The UI has launched but is not connected to RIM. To connect to RIM, follow the process on the next page.

4. Navigate to “File” and Click on “Config Menu”. The ConfigBox should open.

56

5. In the COM Port Number dropdown menu, select the COM port that matches the port number found in device manager. Click OK.

57

6. Navigate to “Mode Select” on the toolbar and click “

7. Click “File Load” and select the RIM executable (.rime) for the specified test.

58

8. The test will run when you click the large “Start” button in the “Common Controls” section.


59

Appendix B – Detailed Speed Test Results

Horizontal Speed Tests Results

CommandType LineEncountered TimeElapsed(ms)TSTOP 14 10127TSTOP 17 10117TSTOP 17 10124TSTOP 17 10120TSTOP 17 10119TSTOP 17 10120TSTOP 17 10120TSTOP 17 10117TSTOP 17 10119TSTOP 17 10120TSTOP 17 10117TSTOP 17 10120TSTOP 17 10118TSTOP 17 10121TSTOP 17 10119TSTOP 17 10119TSTOP 17 10118TSTOP 17 10121TSTOP 17 10118TSTOP 17 10118TSTOP 17 10121TSTOP 17 10121TSTOP 17 10121TSTOP 17 10118TSTOP 17 10121TSTOP 17 10116TSTOP 17 10118TSTOP 17 10115TSTOP 17 10126TSTOP 17 10123TSTOP 17 10121TSTOP 17 10123TSTOP 17 10121TSTOP 17 10117TSTOP 17 10113TSTOP 17 10116TSTOP 17 10117TSTOP 17 10119TSTOP 17 10119TSTOP 17 10118TSTOP 17 10120

60

TSTOP 17 10119TSTOP 17 10119TSTOP 17 10120TSTOP 17 10122TSTOP 17 10119TSTOP 17 10120TSTOP 17 10115TSTOP 17 10117TSTOP 17 10115

Vertical Speed Test Results

TSTOP 8 14654TSTOP 10 14694TSTOP 10 14694TSTOP 10 14675TSTOP 10 14671TSTOP 10 14673TSTOP 10 14669TSTOP 10 14676TSTOP 10 14668TSTOP 10 14667TSTOP 10 14671TSTOP 10 14671TSTOP 10 14672TSTOP 10 14668TSTOP 10 14670TSTOP 10 14677TSTOP 10 14673TSTOP 10 14668TSTOP 10 14670TSTOP 10 14671TSTOP 10 14672TSTOP 10 14668TSTOP 10 14666TSTOP 10 14667TSTOP 10 14671TSTOP 10 14670TSTOP 10 14672TSTOP 10 14669TSTOP 10 14672TSTOP 10 14678TSTOP 10 14673TSTOP 10 14675TSTOP 10 14673

61

TSTOP 10 14677TSTOP 10 14667TSTOP 10 14665TSTOP 10 14662TSTOP 10 14665TSTOP 10 14669TSTOP 10 14667TSTOP 10 14668TSTOP 10 14680TSTOP 10 14667TSTOP 10 14664TSTOP 10 14666TSTOP 10 14664TSTOP 10 14665TSTOP 10 14671TSTOP 10 14676TSTOP 10 14667

Speed test results are presented above as they were recorded in an excel file by the program during the test.


62

Appendix C – Detailed Positional Accuracy Test Results

Point 1: (400,400,400)

Vector GroupTP1_Analysis::TP1-TP1Moves_ObjectiveAnalysis

Name Begin End DeltaX1 Y1 Z1 X2 Y2 Z2 dX dY dZ Mag

(mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm)1 400 400 400 396.9

832402.8

359402.8

915-

3.0168

2.8359

2.8915

5.0501

+

2 400 400 400 396.5465

403.448

402.9152

-3.453

5

3.448 2.9152

5.6845

+

3 400 400 400 396.6491

403.6046

402.7604

-3.350

9

3.6046

2.7604

5.6428

+

4 400 400 400 396.6688

402.6793

404.1333

-3.331

2

2.6793

4.1333

5.9464

+

5 400 400 400 396.2373

402.4684

405.9361

-3.762

7

2.4684

5.9361

7.449 +

6 400 400 400 396.2992

402.305

406.3668

-3.700

8

2.305 6.3668

7.7166

+

7 400 400 400 396.9407

401.5387

406.6487

-3.059

3

1.5387

6.6487

7.4788

+

8 400 400 400 396.58

403.5325

402.9907

-3.42 3.5325

2.9907

5.755 +

9 400 400 400 396.6133

403.5579

402.6476

-3.386

7

3.5579

2.6476

5.5802

+

10 400 400 400 396.5049

403.4702

403.0496

-3.495

1

3.4702

3.0496

5.7929

+

11 400 400 400 396.5762

403.5351

402.7987

-3.423

8

3.5351

2.7987

5.6615

+

12 400 400 400 396.6686

403.5883

402.39

-3.331

4

3.5883

2.39 5.4485

+

13 400 400 400 398.4 401.6 402.8 - 1.612 2.846 3.625 +

63

383 126 466 1.5617

6 6 3

14 400 400 400 398.5849

401.6568

402.9062

-1.415

1

1.6568

2.9062

3.6323

+

15 400 400 400 398.4731

401.5837

403.3712

-1.526

9

1.5837

3.3712

4.0254

+

16 400 400 400 398.4399

400.2439

405.9752

-1.560

1

0.2439

5.9752

6.1804

+

17 400 400 400 398.4349

401.5696

403.1223

-1.565

1

1.5696

3.1223

3.8291

+

18 400 400 400 398.1814

401.071

403.5736

-1.818

6

1.071 3.5736

4.1503

+

19 400 400 400 398.5437

400.3767

405.6668

-1.456

3

0.3767

5.6668

5.8631

+

20 400 400 400 398.535

401.7058

402.6207

-1.465

1.7058

2.6207

3.4531

+

Point 1 Vectors

64

Point 2: (0,628,270)



(mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm)1 0 628 270 -

2.0885

627.0686

277.751

-2.088

5

-0.931

4

7.751 8.0813

+

2 0 628 270 -4.296

7

627.1229

275.8325

-4.296

7

-0.877

1

5.8325

7.2972

+

3 0 628 270 -4.347

2

627.0874

278.2748

-4.347

2

-0.912

6

8.2748

9.3916

+

4 0 628 270 -4.334

8

627.1504

273.082

-4.334

8

-0.849

6

3.082 5.3862

+

5 0 628 270 -4.358

627.1261

275.8795

-4.358

-0.873

9

5.8795

7.3705

+

6 0 628 270 -4.377

1

627.1542

273.6516

-4.377

1

-0.845

8

3.6516

5.7627

+

7 0 628 270 -4.415

1

627.0949

278.0321

-4.415

1

-0.905

1

8.0321

9.2102

+

8 0 628 270 -4.397

5

627.1682

273.1294

-4.397

5

-0.831

8

3.1294

5.4611

+

9 0 628 270 -4.446

4

627.1314

278.3874

-4.446

4

-0.868

6

8.3874

9.5327

+

10 0 628 270 -4.415

627.1375

274.7311

-4.415

-0.862

5

4.7311

6.5284

+

11 0 628 270 -4.429

8

627.1431

276.0963

-4.429

8

-0.856

9

6.0963

7.5844

+

12 0 628 270 -4.433

2

627.1601

273.5344

-4.433

2

-0.839

9

3.5344

5.7315

+

13 0 628 270 -4.448

3

627.1421

275.4778

-4.448

3

-0.857

9

5.4778

7.1084

+

14 0 628 270 - 627.1 275.5 - - 5.548 7.185 +

65

4.4836

378 481 4.4836

0.8622

1 2

15 0 628 270 -4.478

3

627.0759

277.5005

-4.478

3

-0.924

1

7.5005

8.7845

+

16 0 628 270 -4.491

7

627.151

275.8323

-4.491

7

-0.849

5.8323

7.4102

+

17 0 628 270 -4.462

1

627.1307

275.5207

-4.462

1

-0.869

3

5.5207

7.1515

+

18 0 628 270 -4.458

1

627.1382

275.9022

-4.458

1

-0.861

8

5.9022

7.4467

+

19 0 628 270 -4.444

5

627.146

275.1029

-4.444

5

-0.854

5.1029

6.8208

+

20 0 628 270 -4.441

627.1615

273.7358

-4.441

-0.838

5

3.7358

5.8636

+

21 0 628 270 -4.445

1

627.1615

273.7498

-4.445

1

-0.838

5

3.7498

5.8757

+

Point 2 Vectors

Point 3 (130,380,490)

66



(mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm)1 130 380 490 127.6

874381.5

77492.6

94-

2.3126

1.577 2.694 3.8849

+

2 130 380 490 125.5671

382.2675

493.7202

-4.432

9

2.2675

3.7202

6.2155

+

3 130 380 490 124.4595

380.2944

496.6618

-5.540

5

0.2944

6.6618

8.6697

+

4 130 380 490 124.4604

380.3025

496.686

-5.539

6

0.3025

6.686 8.688 +

5 130 380 490 124.5343

380.31

496.6643

-5.465

7

0.31 6.6643

8.6246

+

6 130 380 490 124.5345

380.3136

496.7026

-5.465

5

0.3136

6.7026

8.6542

+

7 130 380 490 124.5361

380.3178

496.7548

-5.463

9

0.3178

6.7548

8.6939

+

8 130 380 490 124.5309

380.3249

496.7959

-5.469

1

0.3249

6.7959

8.7293

+

9 130 380 490 124.8912

381.2177

496.7762

-5.108

8

1.2177

6.7762

8.5732

+

10 130 380 490 124.872

381.1231

496.3067

-5.128

1.1231

6.3067

8.2056

+

11 130 380 490 124.8872

381.1804

496.5604

-5.112

8

1.1804

6.5604

8.4008

+

12 130 380 490 124.888

381.1551

496.4584

-5.112

1.1551

6.4584

8.3173

+

13 130 380 490 124.7481

381.1926

496.3627

-5.251

9

1.1926

6.3627

8.336 +

14 130 380 490 124.9005

381.2038

496.622

-5.099

5

1.2038

6.622 8.4442

+

15 130 380 490 124.8905

381.1788

496.5064

-5.109

1.1788

6.5064

8.3565

+

67

516 130 380 490 124.8

893381.1

464496.3

795-

5.1107

1.1464

6.3795

8.2542

+

17 130 380 490 124.9076

381.2145

496.6803

-5.092

4

1.2145

6.6803

8.4873

+

18 130 380 490 124.5616

380.3861

496.9105

-5.438

4

0.3861

6.9105

8.8023

+

19 130 380 490 124.5728

380.3726

496.8902

-5.427

2

0.3726

6.8902

8.7788

+

20 130 380 490 124.8682

381.1005

496.1677

-5.131

8

1.1005

6.1677

8.0986

+

21 130 380 490 124.8896

381.1682

496.4751

-5.110

4

1.1682

6.4751

8.3311

+

Point 3 Vectors

Point 4: (-206,-253,762)

68



(mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm)1 -206 -253 762 -

205.0652

-252.6

916

767.7476

0.9348

0.3084

5.7476

5.8312

+

2 -206 -253 762 -206.1

662

-253.1

892

767.2392

-0.166

2

-0.189

2

5.2392

5.2453

+

3 -206 -253 762 -206.0

791

-253.0

802

767.3244

-0.079

1

-0.080

2

5.3244

5.3256

+

4 -206 -253 762 -206.1

284

-253.1

129

767.2757

-0.128

4

-0.112

9

5.2757

5.2785

+

5 -206 -253 762 -205.5

258

-252.3

807

767.8181

0.4742

0.6193

5.8181

5.8702

+

6 -206 -253 762 -206.1

269

-253.1

001

767.2612

-0.126

9

-0.100

1

5.2612

5.2637

+

7 -206 -253 762 -205.6

296

-252.5

257

767.6747

0.3704

0.4743

5.6747

5.7065

+

8 -206 -253 762 -205.6

76

-252.5

167

767.6557

0.324 0.4833

5.6557

5.6856

+

9 -206 -253 762 -205.5

623

-252.4

019

767.7883

0.4377

0.5981

5.7883

5.8356

+

10 -206 -253 762 -205.6

417

-252.4

947

767.6993

0.3583

0.5053

5.6993

5.7328

+

11 -206 -253 762 -204.4

118

-251.2

811

768.6707

1.5882

1.7189

6.6707

7.0693

+

12 -206 -253 762 -205.5

163

-252.6

413

767.67

0.4837

0.3587

5.67 5.7019

+

13 -206 -253 762 -204.1

558

-251.6

341

768.5733

1.8442

1.3659

6.5733

6.9624

+

14 -206 -253 762 -204.2

174

-251.7

004

768.5157

1.7826

1.2996

6.5157

6.879 +

69

15 -206 -253 762 -205.7

917

-252.9

736

767.3414

0.2083

0.0264

5.3414

5.3455

+

16 -206 -253 762 -205.6

605

-252.5

214

767.671

0.3395

0.4786

5.671 5.7012

+

17 -206 -253 762 -204.5

843

-251.5

436

768.4301

1.4157

1.4564

6.4301

6.7432

+

18 -206 -253 762 -204.2

893

-251.1

582

768.8074

1.7107

1.8418

6.8074

7.2567

+

19 -206 -253 762 -204.3

134

-251.8

057

768.4104

1.6866

1.1943

6.4104

6.7353

+

20 -206 -253 762 -205.5

151

-252.6

518

767.6649

0.4849

0.3482

5.6649

5.6963

+

Point 4 Vectors

Point 5: (500,0,300)

Vector Group

70

TP5_Analysis::TP5-TP5Moves_ObjectiveAnalysisName Begin End Delta

X1 Y1 Z1 X2 Y2 Z2 dX dY dZ Mag(mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm)

1 500 0 300 499.7188

4.8536

304.6151

-0.281

2

4.8536

4.6151

6.7034

+

2 500 0 300 499.7756

2.6272

306.981

-0.224

4

2.6272

6.981 7.4624

+

3 500 0 300 499.9363

2.42 304.4083

-0.063

7

2.42 4.4083

5.0293

+

4 500 0 300 499.6396

2.8495

306.1718

-0.360

4

2.8495

6.1718

6.8074

+

5 500 0 300 499.8834

2.4725

304.4733

-0.116

6

2.4725

4.4733

5.1125

+

6 500 0 300 499.7903

2.8737

306.9338

-0.209

7

2.8737

6.9338

7.5086

+

7 500 0 300 499.1476

2.4894

306.3502

-0.852

4

2.4894

6.3502

6.8738

+

8 500 0 300 499.6722

2.8819

306.2257

-0.327

8

2.8819

6.2257

6.8681

+

9 500 0 300 499.4652

2.5193

305.8152

-0.534

8

2.5193

5.8152

6.36 +

10 500 0 300 499.7613

2.9163

305.3718

-0.238

7

2.9163

5.3718

6.117 +

11 500 0 300 499.7611

2.5246

305.2857

-0.238

9

2.5246

5.2857

5.8626

+

12 500 0 300 499.3294

2.9059

306.5254

-0.670

6

2.9059

6.5254

7.1746

+

13 500 0 300 499.7343

2.5241

306.2131

-0.265

7

2.5241

6.2131

6.7115

+

14 500 0 300 499.7982

2.9018

305.4539

-0.201

8

2.9018

5.4539

6.1811

+

15 500 0 300 499.7 2.532 305.2 - 2.532 5.239 5.826 +

71

156 6 399 0.2844

6 9 8

16 500 0 300 499.8126

2.915 305.3146

-0.187

4

2.915 5.3146

6.0644

+

17 500 0 300 499.8144

2.5362

305.2069

-0.185

6

2.5362

5.2069

5.7947

+

18 500 0 300 499.3751

2.9167

306.4329

-0.624

9

2.9167

6.4329

7.0909

+

19 500 0 300 499.7317

2.5334

305.3441

-0.268

3

2.5334

5.3441

5.9203

+

20 500 0 300 499.4051

2.9142

306.7086

-0.594

9

2.9142

6.7086

7.3384

+

Point 5 Vectors

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