Download
robotic arm n.
Skip this Video
Loading SlideShow in 5 Seconds..
Robotic Arm PowerPoint Presentation
Download Presentation
Robotic Arm

Robotic Arm

132 Vues Download Presentation
Télécharger la présentation

Robotic Arm

- - - - - - - - - - - - - - - - - - - - - - - - - - - E N D - - - - - - - - - - - - - - - - - - - - - - - - - - -
Presentation Transcript

  1. GLEE Robotic Arm Greater Lafayette Elementary Education Team Members: William Jaynes Ted Schnittgen Dana Navarra Samuel Langfield FengShuangStamme Jeha Lee Aaron Fry TargoonSiripanichpong

  2. GLEE Overview Greater Lafayette Elementary Education • Robotic Arm • Models the human arm • Six degrees of motion • Teaches concepts of anatomy, robotics, teamwork, mathematics, and engineering • Interactive environment • Students will use the Robotic Arm to do multiple different tasks

  3. GLEE Project History Greater Lafayette Elementary Education • Originated in Spring 2004 • Fall 2008: Project was restarted as a maintenance project • Spring 2009: All electrical components were destroyed, new parts were ordered • Spring 2010: Started new design and created enclosure due to safety constraints and preservation • Spring 2011: New design involved using the best of 2010 and 2009’s pieces

  4. GLEE Mechanical Overview Greater Lafayette Elementary Education Shoulder Rotation Shoulder Lift Elbow Extension Wrist Rotation Forearm Rotation

  5. GLEE Mechanical Overview (cont.) Greater Lafayette Elementary Education • The arm is too heavy for the vertical shoulder servo to hold it up without issues, so the spring was added. • This semester the spring has been relocated due to the lack of elbow motion. • Mount for elbow servo is in the works and is almost identical to the others already in place.

  6. GLEE Electrical Work Greater Lafayette Elementary Education Sub Project Leader: William Jaynes

  7. GLEE Electrical Design Greater Lafayette Elementary Education Electrical Work Details • Overall schematic ArduinoNano v3.0 (ATMega16)

  8. GLEE Electrical Design Greater Lafayette Elementary Education Electrical Work Details • Detailed Micro Block Diagram

  9. GLEE Electrical Design Greater Lafayette Elementary Education Electrical Work Details(cont.) • Using an old computer power source taken directly from the tower which allows us a variety of voltages and currents for the servos, micro, and controllers • This is important because each servo takes approximately 1 amp of current when there is no load on the servo

  10. GLEE Electrical Design Greater Lafayette Elementary Education Electrical Work Details(cont.) • We are going to be working with voltage regulators because the power from the power source fluctuates a bit which causes some instability • We will be soldering the micro and control components to a board when the code has a final pinout design • The wiring is to be cased similar to how it is now, which will make is more robust

  11. GLEE Electrical Design Greater Lafayette Elementary Education Electrical Work Details(cont.) • Servos used (all by Hitec) • HS-645MG (4) • Used for all but lift and rotation of shoulder Operating Voltage: 4.8-6.0 Volts Operating Speed (4.8V): 0.24sec/60° at no load Operating Speed (6.0V): 0.20sec/60° at no load Stall Torque (4.8V): 106.93 oz/in. (7.7kg.cm) Stall Torque (6.0V): 133.31 oz/in. (9.6kg.cm) • HS-805BB (2) • Used for lift and rotation of shoulder Operating Voltage: 4.8-6.0 Volts Operating Speed (4.8V): 0.19sec/60° at no load Operating Speed (6.0V): 0.14sec/60° at no load Stall Torque (4.8V): 274.96 oz/in. (19.8kg.cm) Stall Torque (6.0V): 343.01 oz/in. (24.7kg.cm)

  12. GLEE Electrical Design Greater Lafayette Elementary Education Electrical Work Details(cont.) • HS-645MG: • HS-805BB:

  13. GLEE Electrical Design Greater Lafayette Elementary Education Electrical Work Details(cont.) • Wiring from each servo contains a ground, a power (+5) and a control wire • Since it works from 0 – 6v, we do not have to deal with negative voltage which makes it easier when writing code to control these servos

  14. GLEE Electrical Design Accomplishments Greater Lafayette Elementary Education • Noise from servos is no longer a problem due to the fix involving having two power sources and keeping the servos separate • Developed a method to keep the fluctuating voltage from the power source more stable (Early Stage) • Tested all servos with the lab power supply and made sure all wires to servos were connected correctly

  15. GLEE Electrical Design Accomplishments(cont.) Greater Lafayette Elementary Education • Developed, with Ted, a way to sense the force being placed on the closing hand (More about this in Problems section) • Cased wiring since arm is not mounted at the moment. This will keep the wiring that is complete safe • Developed, with mounting team, a servo bracket design to mount the elbow servo onto the arm

  16. GLEE Electrical Design Ongoing Issues Greater Lafayette Elementary Education • Soldering the board requires me to wait for a final pinout • Hand servo still fights itself and overheats(Fix in the works) • As of now, power source still fluctuates, but fix is designed, and will be implemented soon • Elbow servo is still not attached, but the servo itself now works

  17. GLEE Greater Lafayette Elementary Education Controller team Jeha Lee FengShuangStemme

  18. GLEE Controllers Overview Greater Lafayette Elementary Education • Arm consists of 6 individually controlled joints • 6 students can manipulate the arm at one time • Each joint is operated by 1 joystick box • Each joint has 2 directions of movement

  19. GLEE Design Process Greater Lafayette Elementary Education • Reason for 6-person operation of arm: • Reinforces importance of team work. All joints of arm must work together to complete a task • Demonstrate complexity of human brain • Exemplify endless possibilities of technology

  20. GLEE Electrical Design Joystick Specifications Greater Lafayette Elementary Education • 2 directions of movement (1 axis control) • Switched 0 Volts, 5V, and 2.5 V output Exterior Casing Specifications • Average 11 yr. Old's hand length is 6.1” • Total weight of controller < 5 lbs. • Durable material: wood, hard plastic, metal

  21. GLEE Electrical Design Greater Lafayette Elementary Education

  22. GLEE Electrical Design Greater Lafayette Elementary Education Required box dimension to fit joystick = 4 x 4 x 2.75 (in inches) Box we are going to order and use (from Radio Shack) = 7 x 5 x 3(in inches)

  23. GLEE Electrical Design Assembly schematic Greater Lafayette Elementary Education

  24. GLEE Electrical Design Wiring schematic Greater Lafayette Elementary Education Controller Controller Controller Controller Controller

  25. GLEE Electrical Design Schematic for inside the Joystick Greater Lafayette Elementary Education 2.5V 15 mA current goes through two resistor. Therefore between two resistor voltage drop will be 2.5V.

  26. GLEE Electrical Design Greater Lafayette Elementary Education 5V The current passing through one resistor and for the up direction out put voltage will be 5V.

  27. GLEE Electrical Design Greater Lafayette Elementary Education 0V The current through one bottom resistor and the out put voltage will be 0V.

  28. GLEE Reference Greater Lafayette Elementary Education • Joystick Vendor • http://na.suzohapp.com/joysticks/ultimate_joy.htm • Children’s hand size • http://ovrt.nist.gov/projects/anthrokids/images1975/pcc043.gif • http://www.ergonomics4schools.com/lzone/anthropometry.htm

  29. GLEE Greater Lafayette Elementary Education Mounting System Team Members: Targoon Siripanichpong Aaron Fry

  30. GLEE • Mounting Old Mounting System Greater Lafayette Elementary Education • Previous mounting system was a desktop tower case • Meant for temporary use • Unstable and too large for its casing environment

  31. GLEE Problem Mounting Greater Lafayette Elementary Education We need to create a permanent mounting system able to support the robotic arm. Criteria for Success: • Cost-effective • Durable • Maximum range of motion • High stability without swaying • Must not interfere with robotic arm maintenance

  32. GLEE • Mounting Constraints Greater Lafayette Elementary Education • Arm must be able to touch the floor at its full extension. • Time Constraint: 5 weeks (Finished) • Cannot attach to the Plexiglas Dimensions: Length- 53.5 inches Depth- 34 inches Height- 48 inches False Bottom Height- 6 inches

  33. GLEE Conceptual Design: Basic Ideas Mounting Greater Lafayette Elementary Education • Brainstormed by individual basic components • Divide the designs into 3 parts: • Base • Supporting Column • Plate

  34. GLEE Mounting Base Designs Greater Lafayette Elementary Education

  35. GLEE Mounting Supporting Column Designs Greater Lafayette Elementary Education

  36. GLEE Plate Designs Mounting Greater Lafayette Elementary Education Single Plate Double Plate Hybrid Plate

  37. GLEE Mounting Decision Matrix Greater Lafayette Elementary Education • Simplest method for conveying ideas • Allows team member feedback • First basic quantitative evaluation • Two Designs Matrices: - Model Design Matrix - Materials Selection Matrix

  38. GLEE Mounting Decision matrix Criteria Greater Lafayette Elementary Education • Time: Total time for developing and fabricating • Cost: Relative category to other designs, how much in comparison to other designs • Functionality: How well the design performs its task, including design flexibility • Durability: How well the design handles physical stress • Aesthetics: Which designs is the most visually appealing • Maintenance: Ease of repairing the design

  39. GLEE Mounting Blank Matrix Greater Lafayette Elementary Education

  40. GLEE Result of Team Survey Mounting Greater Lafayette Elementary Education

  41. GLEE Feedback from Mechanical Engineer Mounting Greater Lafayette Elementary Education • Design the false floor first • Identify stresses and forces on system • Metal material may be overkill • L-shape bracket and gussets

  42. GLEE Interior Design Sub team Greater Lafayette Elementary Education Team members: Dana Navarra Samuel Langfield

  43. GLEE Interior Design Activities Demonstrating Proficiency Greater Lafayette Elementary Education • Honking a bike horn • Building with blocks • Stacking and sorting colored shapes • Dunking a small basketball • Doing a math problem on a huge calculator • Ringing a bell

  44. GLEE Interior Design Decoration in Casing Greater Lafayette Elementary Education • Block “P” • Field Design • Black and Gold • Possibly HHES colors for school pride

  45. GLEE Interior Design Casing Representation Greater Lafayette Elementary Education The boundaries of this Semi-sphere is the approximated range of motion Arm’s Mounting Location

  46. GLEE Interior Design Stack and Sort Board Greater Lafayette Elementary Education

  47. GLEE Interior Design Accomplishments Greater Lafayette Elementary Education • Produced a multitude of ideas for the decoration of the casing • Brainstormed activities to test the use of the robotic arm • Analyzing “corner cases” that could pose issues with our design

  48. GLEE Interior Design Problems with Design Greater Lafayette Elementary Education • The arm’s movement is still undetermined. • Unknown possible locations of activities.

  49. GLEE Interior Design Upcoming Plans Greater Lafayette Elementary Education • Start designing and building the activities the children will manipulate • Create corner case analysis of design limitations • Verify and test locations of objects are in adequate places

  50. GLEE Microcontroller Greater Lafayette Elementary Education Sub Project Leader: Ted Schnittgen