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Abstract

PROJECT OSCAR / CYBOT. OSCAR is a self-propelled, self-directed, voice- and wireless-interactive robot that is the subject of an ongoing senior design group which is divided into five sub teams: end effector, motion control, power, sensors, and software. End Effector. OSCAR Overview

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Abstract

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  1. PROJECT OSCAR / CYBOT OSCAR is a self-propelled, self-directed, voice- and wireless-interactive robot that is the subject of an ongoing senior design group which is divided into five sub teams: end effector, motion control, power, sensors, and software. End Effector OSCAR Overview Motion Control: Packaging motion control circuit with clearly defined inputs and outputs Power: Supplying sensor team with a stable 5.0 Volt, 2.0 Amp power source Establishing a power budget for OSCAR which will serve as a valuable resource for future teams that wish to make additions Sensors: Implementing hardware and software for the 8 sonar sensors spaced around OSCAR’s perimeter Software: Developing OSCAR remote control via Internet Implementing voice control Developing additional demonstration software Abstract The end effector sub team is in charge of designing, fabricating, programming, and testing an arm and hand/ claw assembly for OSCAR to interact with his environment. This semester the end-effector team will complete the design of the arm and start the assembly of the arm and the electronic and software controls for the arm. Technical Problem Stress that will be placed on the arm Size and power consumption Interface between CPU and micro controllers Manufacture of arm on campus Functional Requirements / Design Constraints “Human-like” range of motion Ability to lift 3 pounds Fine motor control Limited power consumption Arm restricted to 2/3 of fourth tier OSCAR with end effector Total Budget $2229 Total Personnel Budget 2322 hours Hand assembly Measurable Milestones Determining proper motor sizing, link lengths, velocities, torques, range of motion, power needs and materials for arm Ordering components and machining of basic parts started Completing detailed drawings of arm assembly and final specifications meeting all the functional requirements Detailed schematics of entire electrical control system Completing assembly and testing of arm components as well as control systems End Product Description Arm will pivot at the center of the robot on a track, functioning like a human arm Outside the frame of the robot will be an elbow allowing 200 degrees of vertical rotation Hand allowing the robot to grip items less than four inches Entire assembly will be controlled by central computer Team Members Advisor: Dr.Ralph Patterson End Effector: Tim McCormick, Mike Taylor, Linda Lua, Stephen Shi, Jet-Ming Woo, Mark Bly, John Cao Motion Control: Josh Bertram, Jo-Yi Foo, Sath Sivasothy, Rius Tanadi Power: Kiet Nguyen, Nathan Nguyen, Nick Sternowski Sensors: Ben Martin, Jill Bigley, Chris Hutchinson, Adam Kasper, Saw-Meng Soo, Naveen Byreddy Software: Sean Wiechman, Fransiskus Komala, Curtis Balmer, Adnan Khan, Anthony Bozeman, Caleb Huitt, Muhammad Saad Safiullah ONGO01 ONGO01 Visit Project OSCAR at http://ee.iastate.edu/~cybot

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