Presentation on theme: "Project Overview- Strong Arm ECEN 4160, Spring 2005 Thaine Hock Matt Corne Sammit Adhya Luz Quiñónez."— Presentation transcript:
Project Overview- Strong Arm ECEN 4160, Spring 2005 Thaine Hock Matt Corne Sammit Adhya Luz Quiñónez
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
Adhya, Corne, Hock, Quinonez4 Finger Sensors Polar Coordinate Control System –Push Buttons and Limit Switches –Six directions of control –Grip and Release
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
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
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…
Adhya, Corne, Hock, Quinonez19 Control Software Flow 68MC12- Main Routine Poll Finger Sensors Calculate Servo Positions Generate PWM Signals No Data Update User Interface
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
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.
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.
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
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:http://www.sci-info-pages.com/facts.html
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)
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
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