Testing & Evaluation
1. Performance Criteria
The rotation subsystem is evaluated against the following performance criteria, derived from the system-level requirements and drive-side specifications:
| ID | Criterion | Target |
|---|---|---|
| RM-4 | Yaw angular velocity | Sustained angular velocity ≥ 150°/s for rapid re-angling |
| RM-1 | Position hold & disturbance rejection | ≤ 5° overshoot under 50 N lateral punch, return within 500 ms |
| ROT-AC-1 | Transmission & support integrity | Zero tooth-skip under shock load/reversal; stable belt tension; cam-followers maintain contact |
| ROT-AC-2 | Communication reliability | Command frame loss rate < 1% over 1000 frames via WiFi UDP |
2. Test Procedures
Test 1: Angular Velocity Measurement (RM-4)
- Setup: Robot fully assembled to ensure rotation motor is moving the accurate real-world inertia.
- Procedure: Issue a 90° step command to the yaw motor via the wireless interface. Measure the time-to-target using the encoder feedback logs.
- Success Criteria: The robot completes the 90° rotation in ≤ 0.6 seconds, confirming a sustained angular velocity of at least 150°/s.
Test 2: Position Hold & Disturbance Rejection (RM-1)
- Setup: Robot powered on and holding a commanded zero-degree yaw angle.
- Procedure: Apply a 50 N lateral punch to the upper padding. Record the yaw axis angular deviation using the AS5047P encoder logs.
- Success Criteria: Maximum angular deflection ≤ 5°, with the system returning to the commanded position within 500 ms without extended oscillation.
Test 3: Transmission & Outboard Support Integrity (ROT-AC-1)
- Setup: Assembled timing belt drive system and cam-follower supports.
- Procedure: Command rapid acceleration and direction reversals. Apply off-axis loads (hooks) to the torso.
- Success Criteria: Zero observed tooth-skip on the S8M belt. Cam followers maintain contact with the track, preventing visible plate tilt without binding or overconstraint.
Test 4: Communication Reliability (ROT-AC-2)
- Setup: Arduino Uno R4 WiFi connected to the local network alongside the Jetson host.
- Procedure: Transmit 1,000 sequential yaw command frames via UDP at the target 20 Hz GUI refresh rate.
- Success Criteria: Frame loss rate < 1%.
3. Results
At present, the rotation subsystem has been validated primarily through concept selection, load-path reasoning, and transmission calculations. Physical validation testing is pending.
| ID | Criterion | Measured Result | Status |
|---|---|---|---|
| RM-4 | Yaw angular velocity | Pending physical measurement. (Analysis indicates max 34.3 rpm / 205.7°/s capability). | |
| RM-1 | Position hold | Pending physical measurement under lateral strike. | |
| ROT-AC-1 | Transmission & support integrity | Pending physical validation under dynamic shock and reversal loads. | |
| ROT-AC-2 | Communication reliability | Pending wireless UDP packet-loss tracking. |
4. Cross-References
- Robot Mechanism — Verification Results — System-level integration testing and the overall performance assessment against all RM requirements.
- 5.2 Robot Mechanism — Definitions of the system-level requirements (RM-4, RM-1) and acceptance criteria ROT-AC-1, ROT-AC-2 that this rotation subsystem satisfies.