1 / 20

Ankle Positioning Device

Ankle Positioning Device. Marc DeAngelis Paul Hauris Katherine Leshkow Jennifer Moore. Spring 2013. Background. Complex Joint Full Range of Motion Inversion/Eversion Plantar Flexion/Dorsiflexion Internal/External Rotaton. Introduction. Our Goals Working Model User-friendly

krista
Télécharger la présentation

Ankle Positioning Device

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Ankle Positioning Device Marc DeAngelis Paul Hauris Katherine Leshkow Jennifer Moore Spring 2013

  2. Background • Complex Joint • Full Range of Motion • Inversion/Eversion • Plantar Flexion/Dorsiflexion • Internal/External Rotaton

  3. Introduction • Our Goals • Working Model • User-friendly • Cost Effective • Minimal Machining • Basic Goals • x-, y-, z-axes • Load applied • Horizontal, vertical • 5DOF

  4. Pin Designs • Pin • Layered • Framed Plates • Gimbal • 4DOF

  5. Layered • 3DOF Framed Plate • 3 DOF

  6. Gimbal • 4 DOF • Built upon earlier ideas

  7. Basic Conceptual Design • Selected Design • 4 DOF

  8. Clamp Design (Tibia)

  9. Design Modifications • Joint Design • Motors • Load Cell

  10. Joint Design

  11. 100 lbs Design Modifications - Motor Selection • Calculations • Torque Consideration • Weight Requirement • Final Selection

  12. Design Modifications - Load Cell • Function • Importance of Location

  13. Design Flaws - Structural Support • Necessary Change • Earlier Design’s Flaws

  14. Design Flaws – Translational Flaw

  15. Control Algorithm

  16. Control Algorithm

  17. Servo without Filter Servo with 2nd Order Butterworth Pass Filter

  18. Cost Analysis • Base Plates • 24” x 24” 1” thick Al plate - $544.97 • 18” x 18” 1” thick Al plate - $306.55 • Stabilizer Base • 3/16” thick Al - $63.19 • Three Motors - $719.94 • Vertical Bearings - $92.88 • 6DOF Analog IMU - $72.50 • Arduino Uno - $29.95 • TOTAL ESTIMATED COST: $2,768

  19. Gantt

More Related