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Group 10 – Helping Hand

Group 10 – Helping Hand. Taylor Jones Eric Donley Kurt Graf Matt Carlson. OUR PROJECT IS. A Haptic Robotic Arm controlled by a sleeve mounted with motion and force sensors on a human operator's arm – which controls the motion-tracking robotic arm's proportional motion.

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Group 10 – Helping Hand

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  1. Group 10 – Helping Hand Taylor Jones Eric Donley Kurt Graf Matt Carlson

  2. OUR PROJECT IS • A Haptic Robotic Arm controlled by a sleeve mounted with motion and force sensors on a human operator's arm – which controls the motion-tracking robotic arm's proportional motion. These robots have a wide range of industrial and medical applications such as pick and place robots, surgical robots etc. They can be employed in places where precision and accuracy are required. Robots can also be employed where human hand cannot penetrate. • Theoretically, adding digits (fingers) to the arm with extremely fine control could make a skilled work duplication station possible. • That means you make a part at your workstation and the Helping Hand duplicates your work on a robotic station.

  3. Motivation for Project • We are Electrical Engineers and a Computer Engineer candidates for Bachelor of Science in Engineering diplomas • Concern for real working world (industrial) knowledge and skills led the team to choose for senior design project a modern application of an industrial standard robotic application - the robotic arm.

  4. PROJECT CONCEPT Why study the human-operated robot arm? The future of robotics in manufacturing and assembly is increasing flexibility both in mechanical performance and ubiquitous integration with human workers. The future of robotics is greater dexterity, easier and quicker programmability, and safe operation with human co-workers. Building a tele-operated master-slave robot arm driven by sensors worn on a human arm is investigating future possibilities and general performance considerations of advanced robotics.

  5. Goals and Objectives of Our Project 1. Proportional motion-tracking of a human operator's arm motion 2. Fast tracking response = or < 0.1 seconds 3. Effective grasp-and-place 50 gram object with end-effector 4. Smooth and safe and stable motion 5. 6+1DOF with elbow and wrist roll

  6. Specifications of Performance • Less than 0.1 second (human reaction time) delay from human arm motion to robot arm motion-tracking response • Automatic reset to start position 3. Internal range-of-motion limitation fail-safes 4. Grasp, lift, and place 50 gram payload 5. End-effector does not damage payload

  7. Not an Open Loop SystemExteroceptive (operator) Feedback

  8. System Overview

  9. AL5D Arm • Length : 20 in. • Gripper width : 1.25 in. • Degree’s of freedom : 7

  10. MPU-6000/6050 Six-Axis MEMS MPU-6000/6050 Six-Axis (Gyro + Accelerometer) MEMS MotionTracking™ Devices for Smart Phones, Tablets, and Wearable Sensors

  11. Completed sensor board with 4x4x1 mm gyro

  12. TWI Timing • V(0) = 0 • V(inf) = Vcc • Vcc = Vc + I*R • Vcc = Vc + R*C*dVc/dt • dVc/dt + Vc/RC = Vcc/RC • Vc = Vcc(1-e^(-t/RC)) • High >= 0.7*Vcc • Low <= 0.3*Vcc • tmax = 300ns

  13. TWI Timing • 0.7*Vcc = Vcc*(1-e^(-t/RC)) • 0.7 = 1 – e^(-t/RC) • -t = RC*ln(0.3) • RC = -t/ln(0.3) • t <= 300ns • RC <= (300*10^(-9))/ln(0.3) • RC <= 2.49*10^(-7)

  14. GYRO Equation The gyro gives data in degrees/second To determine actual angle of rotation requires integration with respect to time ∫dΘ dt = Θ

  15. Mounted Sensors

  16. Motor Choice

  17. Microcontrollers

  18. Operational Flow Chart

  19. Software Flow Motor Control Void init_motors(void) Void move_to_default(void) Void move_motors(uin8_t[7]) Main Loop -int main(void) IO control Void init_pins(void) Math Functions void getQuaternion(int16_t*,const uint8_t*) void createQuaternion(Quaternion*,const uint8_t*) void GetGravity(VectorFloat*,Quaternion*) void GetYawPitchRoll(ypr,Quaternion*,VectorFloat*) void loadBuffer(uint8_t*,accel_t_gyro_union) Sensor Control Void init_sensors(void) Void init_twi(void) Void read_sensors(void) Void translate(accel_t_gyro_union, accel_t_gyro_union, accel_t_gyro_union)

  20. Motor Coordination • Base motor is controlled by the yaw of the bicep sensor • Shoulder motor is controlled by the pitch of the bicep sensor • Elbow rotation is controlled by the roll of the forearm sensor • Elbow motor is controlled by the yaw of the forearm sensor • Wrist rotation is controlled by the roll of the hand sensor • Wrist motor is controlled by the pitch of the hand sensor • Grip motor is controlled by a button located on the finger

  21. Sensor Data Conversion

  22. TESTING A plastic robot arm prototype was built and proved very useful for component acquisition. In particular, an arduino control board was used to initially test the gyro sensor boards and to test the servos after mounting them on the metal robot arm. 3 systems’ components required testing: • 6-axis gyroscope-accelerometer sensors • Digital and analog servo motors • Microcontroller board

  23. Testing Results • 7 servos plus two spares were tested out of the box – OK • 7 servos plus two spares tested on robot arm – 5 OK Base and shoulder servos aren’t strong enough Base only rotates plus or minus 5 degrees Shoulder only rotates 30 degrees • 4 6-axis MPU-6050 gyro-accelerometers tested individually – OK 6-axis MPU-6050 gyro-accelerometers not tested in system • 1 MCU built and tested unconnected to sensor-robot system – OK MCU not tested in sensor-robot system

  24. Power Supply • Two different supplies are needed • Microcontroller and sensors • Rated at 3.3v • Servos • Rated at 6v

  25. Power Supply • Initial plan • Battery Pack • 6v • Limitations • Current

  26. New Plan • Power plug through the wall • Advantages • Limitless power supply • Configurable for high current • Disadvantages • Bulky • Increase costs

  27. Use of transformer to step down the voltage from the wall to 6v • Then rectify the voltage to DC • Use of linear regulator to further drop the voltage to 3.3v

  28. Combine 2 power supplies in one using a shared dc power bus and dc-to-dc regulator

  29. Single PC 350 Watt P/S configured as a Shared DC Power Bus at 5 Volts for servos and dc-to-dc regulated to 3.3 Volts for sensors and micro-controller unit 5 Volts 3.3 Volts PC 350 W P/S driving 18 amps at 5 volts Wrist/ Forearm rotation Servo Elbow rotation Servo Shoulder elevation Servo Elbow elevation Servo Base Servo Wrist elevation Servo MCU 120V AC in Gripper Servo Gyro Forearm Gyro Hand Gyro Bicept LD1117AV33 PC Power Supply Connection board 5V to 3.3V Voltage Regulator

  30. Work Remaining to Complete Demo 1. Programming effectiveness between sensors, mcu, and servos tested and proven 2. Power supplies built, tested, implemented 3. Mechanical and electrical system performance documented

  31. Budget

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