Robot Mechanism — Verification Results
This page documents the right side of the V-Model for the Robot Mechanism (Section 5.2): subsystem-level verification results, system-level integration test results, and the overall performance assessment against requirements RM-1 through RM-7. For the verification plan and acceptance criteria, see the Robot Mechanism landing page.
Subsystem Verification Results
5.2.1 Base
The base subsystem has been fully validated through physical prototype testing, confirming structural stability and portability requirements. See 5.2.1 Base Testing & Evaluation for detailed procedures.
| ID | Criterion | Target | Measured | Met? |
|---|---|---|---|---|
| RM-1 | Stability under punching loads | No tipping; FoS ≥ 1.5 | Robot remains completely stable under worst-case full extension punching impacts; DSP analysis confirmed peak structural sway < 4° with no base lift-off | Pass |
| RM-2 | Compact footprint clearance | No foot contact during stance cycle | Trapezoidal front provides sufficient clearance; zero contact observed during pivots | Pass |
| RM-3 | Practical transport | 1-person tip-and-roll transport | Single operator successfully tilted and relocated the assembled robot. Initial tilting requires effort due to the front-weighted body, but rolling is smooth once tilted | Pass |
5.2.2 Rotation
| ID | Criterion | Target | Measured | Met? |
|---|---|---|---|---|
| ROT-AC-1 | Zero tooth-skip under shock/reversal; cam-follower contact maintained | 0 tooth-skip events over 100 reversal cycles | N/A | Pending |
| ROT-AC-2 | Frame loss < 1% over 1,000 UDP frames | < 10 lost frames / 1,000 | N/A | Pending |
| RM-4 | Yaw angular velocity | ≥ 150°/s | N/A | Pending |
See 5.2.2 Rotation — Testing & Evaluation for full procedures.
5.2.3 Height Adjustment
| ID | Criterion | Target | Measured | Met? |
|---|---|---|---|---|
| RM-5 / HA-AC-1 | Structural deflection | Maintain alignment under punch loads | 28 cm stroke achieved in 86 s | Partial |
| RM-3 / HA-AC-1 | Stroke & Reliability | ≥ 400 mm stroke in ≤ 32 s | N/A | Pending |
| HA-AC-2 | Delrin wear & backlash | Wear < 1 mm, play < 2 mm (200 cycles) | N/A | Pending |
See 5.2.3 Height Adjustment — Testing & Evaluation for full procedures.
5.2.4 Padding
The padding subsystem is validated against two key performance criteria. See 5.2.4 Padding for the full IMU sensing pipeline and noise-rejection details.
| ID | Criterion | Target | Measured | Met? |
|---|---|---|---|---|
| PAD-AC-1 | IMU strike detection rate | ≥ 95% TP | N/A | Pending |
| PAD-AC-2 | Impact force differentiation | Monotonic (L < M < H) | N/A | Pending |
5.2.5 Arm Actuation
The arm actuation subsystem is evaluated against five performance criteria (ARM-AC-1 to ARM-AC-5). Speed testing (ARM-AC-1, ARM-AC-5) has been completed across N=43 tests. See Testing & Evaluation for full procedures and benchmark data, and the System Troubleshooting Appendix for cross-layer defect resolutions (8 resolved, 1 mitigated).
| ID | Criterion | Target | Measured | Met? |
|---|---|---|---|---|
| ARM-AC-1 | Strike speed (90° rotation) | ≤ 0.25 s | 0.64 s best (Left Jab, 30 rad/s) | Partial |
| Note: The Damiao DM-J4310-2EC internal PID acceleration and deceleration ramps add approximately 0.4–0.5 s of constant overhead per strike, precluding attainment of the 0.25 s system target. The best recorded result of 0.64 s represents a partial fulfilment of RM-8. See Section 5.2.5.5 Speed Test Benchmark for full analysis. | ||||
| ARM-AC-2 | Sparring endurance | 5 min continuous, <60°C motors | — | Pending |
| ARM-AC-3 | Regenerative braking safety | No PSU trip over 5 E-stops | — | Pending |
| ARM-AC-4 | Multi-strike chain execution | 3-strike chain ≤ 5 s total | — | Pending |
| ARM-AC-5 | Peak motor current within safety limit | < 2.0 A per motor | 0.69 A max (Right Hook M4) | Pass |
Key validated deliverables: Coaxial differential joint (3:1 helical-spur), post-fair structural revision (stainless D-shaft + Delrin pin), CAN bus parallel connection (4 motors), Dynamic Sparring FSM, ROS 2 external control interface (7 topics).
System Integration Test Results
Performance Assessment
The following table maps verification results directly back to the system-level requirements defined in the Robot Mechanism section:
| Req | Requirement | Target | Measured | Met? |
|---|---|---|---|---|
| RM-1 | Stability under punching loads | FoS ≥ 1.5; no tipping | Stable under max impact (peak sway < 4°, no lift-off) | Pass |
| RM-2 | Compact footprint | No footwork obstruction | Zero foot contact | Pass |
| RM-3 | Portability | 1-person transport | Successful 1-person transport. Initial tilting requires effort, but rolling is smooth | Pass |
| RM-4 | Yaw angular velocity | ≥ 150°/s | N/A | Pending |
| RM-5 | Height adjustment stroke | ≥ 400 mm, ≤ 32 s | 28 cm stroke achieved in 86 s | Partial |
| RM-6 | Impact detection | ≥ 95% TP | N/A | Pending |
| RM-7 | Strike delivery | All 6 strike variants | N/A | Pending |
| RM-8 | Strike speed | 90° sweep in ≤ 0.25 s | 0.64 s best (Left Jab, 30 rad/s); constrained by Damiao PID ramp overhead | Partial |
Limitations
Following the execution of subsystem verification tests, several limitations have been identified in both the mechanical architecture and the testing instrumentation.
| Subsystem | Limitation | Engineering Impact |
|---|---|---|
| Lower Mechanism Footwork |
No linear forward and backward translation | The current base provides only yaw rotation. The robot cannot advance or retreat to maintain realistic sparring distance, which restricts footwork simulation during training. |
| Lower Mechanism Height Adjustment |
IMU DSP methodology for dynamic deflection | The 0.5 Hz low-pass filter used to eliminate horizontal sliding artifacts likely attenuated the true peak dynamic bending of the steel column. The measured peak sway represents a heavily damped, quasi-static deflection rather than an instantaneous dynamic peak. |
| Upper Mechanism Arm Actuation |
Damiao PID acceleration and deceleration ramps | The internal motor controller adds approximately 0.4 to 0.5 s of overhead per strike. This precludes reaching the 0.25 s target speed (RM-8), limiting the best recorded strike to 0.64 s. |
| System Integration | Pending full-payload endurance tests | Long-term wear and full power-budget validation (for example, continuous 5-minute sparring, repeated multi-strike chains) require the completely assembled prototype to finalize testing. |