1. Project Overview- Strong Arm ECEN 4610, Spring 2005 Thaine Hock Matt Corne Sammit Adhya Luz Quiñónez

2. Project Goals • To design and build the controlling electronics for a six-axis robotic arm that can be controlled through the use of simple finger motions • Arm will allow paraplegics to control robotic arm in three dimensions • Proof of concept of a larger scale device and training system Adhya, Corne, Hock, Quinonez

3. Outline of Approach Finger Sensors Micro Controller Servo Controller FPGA Arm Magnetic Sensors User Interface Adhya, Corne, Hock, Quinonez

4. Finger Sensors • Polar Coordinate Control System • Push Buttons and Limit Switches • Six directions of control • Grip and Release Adhya, Corne, Hock, Quinonez

5. FPGA • Uses Magnetic Sensor as Inputs • Determine Initial Block Positions • Send Polar Coordinate Position to Micro Controller Using Memory-Mapped Registers Adhya, Corne, Hock, Quinonez

6. Micro Controller • The Brain! Boahahahahaha!!! • Freescale 68HC912DG128A • 8KB SRAM • 2KB EEPROM • 128KB FLASH • SCI, SPI • ADC Onboard • 69 I/O Pins Adhya, Corne, Hock, Quinonez

7. Servo Controller • Control Six Servos Using Serial Interface • Generates PWM signals to servos Adhya, Corne, Hock, Quinonez

8. Arm • Lynxmotion Robotic Arm • Six degrees of freedom • Base rotation, shoulder, elbow, wrist motion, wrist rotate, and a functional gripper Adhya, Corne, Hock, Quinonez

9. Magnetic Sensors • Place Magnets Inside Blocks • Build Magnetic Flux Detection Grid • Detect location of block using triangulation Adhya, Corne, Hock, Quinonez

10. Division of Labor • Finger Sensor • Thaine • FPGA Implementation • Sammit • PCB and Micro controller • Thaine • Robotic Arm Algorithms • Sammit and Matt • Magnetic Sensor and Block Detection • Luz • User Interface • Matt Adhya, Corne, Hock, Quinonez

11. Schedule Adhya, Corne, Hock, Quinonez

12. Risks and Contingency Plan • Mapping cylindrical coordinates to servo positions may prove difficult • Magnetic sensors not sensitive enough to detect block positions • Possible use of ultra-sonic sensors Adhya, Corne, Hock, Quinonez

13. Economic Aspects and Marketability • Training unit cost is relatively low • Practical arm cost will be very high • Moderate demand • Possibility of medical insurance covering some/most of the cost • Approx 7800 Spinal Cord Injuries each year, many of them could benefit1 1:http://www.sci-info-pages.com/facts.html Adhya, Corne, Hock, Quinonez

14. Sustainability and Manufacturability • Parts widely available for control circuitry. • Can be used with many different arms • Effect of component tolerances are low except for a small handful • Auto-test routines in software • Complies with regulations and is safe to operate (training version) Adhya, Corne, Hock, Quinonez

15. Pros Can be mostly lead-free No byproducts Cons Would need large battery (most likely toxic) Consumes large amounts of power Environmental Impact Adhya, Corne, Hock, Quinonez

16. Impact on Society • Full scale device would allow some handicapped persons to be able to perform more physical tasks, qualifying them for more job opportunities Adhya, Corne, Hock, Quinonez

17. Questions? Thanks!