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ECE 477 Design Review Team 17  Spring 2014

ECE 477 Design Review Team 17  Spring 2014. Jian Sun Lingyun Li Bowen Wang Jan Guzman. Outline. Project overview Project-specific success criteria Block diagram Component selection rationale Packaging design Schematic and theory of operation PCB layout

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ECE 477 Design Review Team 17  Spring 2014

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  1. ECE 477 Design Review Team 17  Spring 2014 Jian Sun Lingyun Li Bowen Wang Jan Guzman

  2. Outline • Project overview • Project-specific success criteria • Block diagram • Component selection rationale • Packaging design • Schematic and theory of operation • PCB layout • Software design/development status • Project completion timeline • Questions / discussion

  3. Project Overview • The goal of this project is to design a robotic arm which could imitate the movement of user’s arm by detecting the position change of user’s arm movement using the Kinect by Microsoft. It will include the robotic arm, control unit, Kinect, and PC.

  4. Project-Specific Success Criteria • An ability to capture the movement coordinates of a user’s arm from the Kinect • An ability to display real time robotic arm coordinates and pressure on LCD • An ability for the robotic arm to mimic real-time three-dimensional movement of the user’s arm. • An ability to transmit the movement signal from PC to microcontroller via Bluetooth • An ability to record and store preset movements within the microcontroller for future playback

  5. Block Diagram

  6. Component Selection Rationale • STM32F405RGT6 • ARM-Cortex M4F • 168 MHz • 192 KB RAM • 64 LQFP 51 I/O • Selected because • Better development environment • AT32UC3B0128 • 32-Bit Atmel® AVR®Microcontroller • 60 MHz • 256 KB RAM • 64 TQFP 44 I/O • $11 single quantity

  7. Other Components • Bluetooth Module • RN41 • Transmission Distance: 18m • Low Power • LCD Module • ADM1602U

  8. Packaging Design • Requirements Base for containing the PCB Base covering box has LCD display on the top Attach close to the base of the robotic arm

  9. Schematic/Theory of Operation • Bluetooth module for transmitting data from computer to microcontroller • Microcontroller controlling the motor on the robotic arm • 5V for motor on the robotic arm • 3.3 V for microcontroller and all other relative devices • 168MHz: Maximum frequency when processing data from the bluetooth module

  10. Schematic Overview

  11. Schematic Section Breakdown PushbuttonLCD and Spare Pins Reprogramming JTAG MCU Power Supply ROBOTIC ARM Bluetooth

  12. POWER SUPPLY

  13. BLUETOOTH

  14. Robotic Arm

  15. LCD Pushbutton and Spare Pins

  16. PCB Layout and Consideration All parts are placed according to the pin location(reference Schematic generally) 2. No acute angles (Use T intersections) 3. 10mil trace minimum (trace around pins,10 and 12 mil are used for most traces) 4. 10 mil trace spacing 5. Via should be at least the same size as the trace

  17. PCB Layout • Power Supply (3.3V and 5V) • 32 mil trace • Power Circuit near edge • Capacitors and voltage regulators place near each other

  18. MCU Consideration • 8 decoupling capacitors: place closely enough to MCU • Crystal Oscillator: two traces will be symmetric and no trace should go under it • 10 mil in Trace size

  19. Bluetooth • Bluetooth away from power supply • No traces / ground plane / vias allowed under antenna • Antenna end protrude 5mm beyond any enclosure

  20. Development • Debugging Mode • 6 PWM modules including one backup module • Extra pins for debugging and function development

  21. Software Design/Development Status • Skeleton feed obtained using Microsoft Kinect SDK (C++) • Microsoft Visual Studio used to program and display Kinect data on laptop • Will focus on arm joints • Claw opening and closing detection using hand tracking feature • Vectors obtained used to calculate angle information • Vector and angle information transmitted to microcontroller via Bluetooth • Next step is recognizing and storing preset motions

  22. Project Completion Timeline

  23. Questions / Discussion

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