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Project Overview- Strong Arm ECEN 4160, Spring 2005 Thaine Hock Matt Corne Sammit Adhya Luz Quiñónez.

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Presentation on theme: "Project Overview- Strong Arm ECEN 4160, Spring 2005 Thaine Hock Matt Corne Sammit Adhya Luz Quiñónez."— Presentation transcript:

1 Project Overview- Strong Arm ECEN 4160, Spring 2005 Thaine Hock Matt Corne Sammit Adhya Luz Quiñónez

2 Adhya, Corne, Hock, Quinonez2 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

3 Adhya, Corne, Hock, Quinonez3 Outline of Approach Microcontroller- Freescale 68MC12 GPIO LED Detection Grid Touch Screen Robotic Arm- LynxMotion LCD- Optrex Finger Sensors SerialGPIO Serial PWM GPIO FPGA- Xilinx XCS10 CS Signals

4 Adhya, Corne, Hock, Quinonez4 Finger Sensors Polar Coordinate Control System –Push Buttons and Limit Switches –Six directions of control –Grip and Release

5 Adhya, Corne, Hock, Quinonez5 Finger Diagrams Limit Switch controls r axis (forward) /Button controls r axis (back) Limit Switch controls z axis (up) /Button controls z axis (down) Limit Switch controls Φ axis (right) /Button controls Φ axis (left) Thumb button controls grip

6 Adhya, Corne, Hock, Quinonez6 FPGA Controls the IR Detection Array –Determine Initial Block Positions Send Polar Coordinate Position to Micro Controller Using Memory- Mapped Registers Create all needed glue logic for PCB

7 Adhya, Corne, Hock, Quinonez7 FPGA Schematic

8 Adhya, Corne, Hock, Quinonez8 Arm Lynxmotion Robotic Arm –Six degrees of freedom Base rotation, shoulder, elbow, wrist motion, wrist rotate, and a functional gripper

9 Adhya, Corne, Hock, Quinonez9 Movement Calculations

10 Adhya, Corne, Hock, Quinonez10 Microcontroller Compute servo positions Produce PWM signals to control servos Process finger sensor data Process touch screen data

11 Adhya, Corne, Hock, Quinonez11 Microcontroller Schematic

12 Adhya, Corne, Hock, Quinonez12 Bus Design

13 Adhya, Corne, Hock, Quinonez13 Microcontroller and Bus

14 Adhya, Corne, Hock, Quinonez14 PCB Layout

15 Adhya, Corne, Hock, Quinonez15 User Interface QVGA LCD with 8-wire resistive touch screen Interfaces to MPU through dual serial interfaces. Able to store images in onboard 16Mbit flash memory.

16 Adhya, Corne, Hock, Quinonez16 IR Sensors

17 Adhya, Corne, Hock, Quinonez17 Parts List

18 Adhya, Corne, Hock, Quinonez18 Startup Software Diagram Block Pos. Power On Initialize 68MC12, FPGA, And Arm FPGA- Block Detection 68MC12- Initial Block Positions Position Registers 68MC12- Main Routine Depending on how many blocks…

19 Adhya, Corne, Hock, Quinonez19 Control Software Flow 68MC12- Main Routine Poll Finger Sensors Calculate Servo Positions Generate PWM Signals No Data Update User Interface

20 Adhya, Corne, Hock, Quinonez20 Division of Labor Finger Sensor –Thaine FPGA Implementation –Sammit PCB and Micro controller –Thaine Robotic Arm Algorithms –Sammit and Matt IR Sensor and Block Detection –Luz User Interface –Matt

21 Adhya, Corne, Hock, Quinonez21 Schedule

22 Adhya, Corne, Hock, Quinonez22 Milestones Milestone 1: –User will move robotic arm in one direction using our commands produced by our board. Milestone 2: –Robotic arm will be able to pick up and move a block in 3 dimensions. Also, initial user interface with touch screen will be complete.

23 Adhya, Corne, Hock, Quinonez23 Milestone (cont…) Open Lab: –User ability to control robotic arm in the relocation of blocks to a predefined location. –Once task is finished (successful or not), system will locate blocks and reset them to a known operating position. –User (or helper) will interface with system using a color touch screen.

24 Adhya, Corne, Hock, Quinonez24 Risks and Contingency Plan Mapping cylindrical coordinates to servo positions may prove difficult IR sensors not sensitive enough to detect block positions Fall Back Plan: –A helper can physically reset system to known operating state

25 Adhya, Corne, Hock, Quinonez25 Cost (BOM) Actual Expenditures Anticipated Expenditures

26 Adhya, Corne, Hock, Quinonez26 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 benefit 1 1:

27 Adhya, Corne, Hock, Quinonez27 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)

28 Adhya, Corne, Hock, Quinonez28 Environmental Impact Pros Can be mostly lead- free No byproducts Cons Would need large battery (most likely toxic) Consumes large amounts of power

29 Adhya, Corne, Hock, Quinonez29 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

30 Questions? Thanks!

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