I think
these lecture notes from MIT 2.007 are a good reference for the elements of design.
They include a process with ten steps. FRC teams do not generally complete all ten; it is very common for teams to omit steps 4, 5, 7, 8, and 10. (Many real-world design processes skip steps, too.)
----------from the link above---------------
First Step: Take stock of the resources that are available
Second Step: Study the problem and make sure you have a clear understanding of what needs to be done, what are the constraints (rules, limits), and what are the physics of the problem!
• Steps 1 & 2 are often interchangeable
Third Step: Start by creating possible strategies(ways to approach the problem)using words, analysis, and simple diagrams
• Imagine motions, data flows, and energy flows from start to finish or from finish back to start!
• Continually ask “Who?”, “What?”, “Why?”, “Where”, “How?”
• Simple exploratory analysis and experiments can be most enlightening!
• Whatever you think of, others will too, so think about how to defeat that about which you think!
Fourth Step: Create concepts, specific ideas for machines,to implement the best strategies, using words, analysis, and sketches
• Use same methods as for strategies, but now sketch specific ideas for machines
• Often simple experiments or analysis are done to investigate effectiveness or feasibility
• Select and detail the best concept…
Fifth Step: Develop modules, using words, analysis, sketches, and solid models
Sixth step: Develop components, using words, detailed analysis, sketches, and solid models
Seventh Step: Detailed engineering & manufacturing review
Eighth Step: Detailed drawings
Ninth Step: Build, test, modify…
Tenth Step: Fully document process and create service manuals…