R.A.W. Remote Armwrestling

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Presentation transcript:

R.A.W. Remote Armwrestling SDP Team 12 Tyler Costa, Steve Lucey, Zach Matthews, Steve McGrath Steve L.

Problem Statement A game that connects the physical and virtual world Physical competition between distant friends More intimate than phone call Could motivate individual to exercise (strength training) Steve L. If friends plan to meet at bar with RAW at end of week, more likely to work out that week. https://www.google.com/url?sa=i&rct=j&q=&esrc=s&source=images&cd=&cad=rja&uact=8&ved=0ahUKEwi3xfTA5PbWAhWLPCYKHbgsCiMQjRwIBw&url=https%3A%2F%2Fwww.pinterest.com%2Fpin%2F164381455119064701%2F&psig=AOvVaw0vlvB1OXIHQGuxyQWCiMzB&ust=1508299652782709

The Product Remote ArmWrestling game against other users in real-time Two robotic arms connected over the internet Each arm replicates the force and strength of the opposite user The results of the matches would get submitted into a database which would rank users based on their performances Information accessible through phone application Steve L.

System Requirements A sturdy robotic arm Average forearm and length being 0.2921 meters Torque sensing/replication Torque Constant: 0.209 Nm/A High speed connection for communicating between arms Operates with non-perceivable delay An application for creating an account and monitoring results Safety function to seize up the arm Zach

Arm Motion Replication Old Block Diagram Robotic Arm Application Power Supply Motor System System Padding GUI Server/Client Arm Motion Replication Database Pressure Sensing Force Replication Feedback Loop Networking Maroon - Zach Green - Tyler Yellow - Steve L. Blue - Steve M. Raspberry Pi Safety Microcontroller Emergency Stop Arduino High Speed Connection Tyler

New Block Diagram Application Robotic Arm Networking Arm Design Safety To other arm Application Client/ Server Database GUI Robotic Arm Networking Raspberry Pi Video Feed Arm Design Gear Train Motor Control Match Info. Safety Emergency Stop Hard Stop Bracket Match Data Arm Power Microcontroller Arduino Stop Signal Maroon - Zach Green - Tyler Yellow - Steve L. Blue - Steve M. Sensors Current Sensor Current Sensor Strain Gauges Strain Gauge Tyler Feedback

Proposed MDR Deliverables 1 Arm with Basic Movement Capabilities: Starts in armwrestling position Can move corresponding to given human input Resist motion +/- 5 degrees of starting position Not networked Application: Will have basic GUI with simulated functionality Local database Steve M

Actual MDR Deliverables 1 Arm with Basic Movement Capabilities: Starts in armwrestling position Arm begins to lose to given amount of weight Arm then stalls and stops losing to the given amount of weight Finally, arm starts beating given amount of weight Not networked Application: Android application Local SQLite database Steve M

Each Member's Contribution for MDR Tyler Costa: Lower arm design, Gear train, and Motor Control Steve Lucey: GUI/Client for Matches, Arduino IDE functions Zach Matthews: SQLite Database, GUI/Client for: Create/Edit/View Profile, Follow/Unfollow Users, Join Followings’ Matches Steve McGrath: Upper arm design and Strain gauges Steve M

Application Capabilities Create/view/edit profile Schedule/join matches Follow other users Microsoft Visual Studio Xamarin developer for Android Coded in C# Android Debugging Helped find errors Found multiple runtime errors Zach

Application Clarifications Local database (as promised) will be uploaded to server Arm’s currently numbered but will be geographically selectable Currently no notifications Matches Followings Steve L

Arduino Made multiple functions in Arduino IDE motorCurrent function Finds instantaneous motor current desiredCurrent function Calculates Current to match force applied on the forearm dutyCycle function Provides desired duty cycle according to desired current Steve L

Transition To SDP Lab

Arm Design Amp Flow E50-150 Brushed DC Motor 24 VDC 5000 RPM 1:77.76 Gear ratio 3 stages Limited elbow flexibility 70 degrees to 110 degrees Aluminum beam connected to end of drive shaft to represent forearm Tyler

Sensors (Strain Gauges) Strain gauges mounted in full wheatstone bridge configuration Provides voltage differential Voltage differential corresponds to force/torque applied Torque = force * distance to pivot Desired current calculated through torque constant (Nm/A) http://www.continuummechanics.org/images/straingauges/full_bridge_bending_circuit.png Steve M

Strain Gauges Force Replication Force (N) Voltage Difference (mV) 11.25 .475 22.5 .538 33.75 .608 45 .679 56.75 .748 Steve M

Motor Control Arduino and Cytron motor driver Arduino feeds PWM wave with desired duty cycle Current control to provide desired force/torque Instantaneous Current feedback to arduino Adjust duty cycle to source desired current according to corresponding force/torque Tyler

Duty Cycle (0-255) Current (A) Output torque (Nm) 14 0.41 6.57 18 0.64 9.86 20 0.8 13.14 22 0.9 16.43 26 1.3 19.72 30 1.69 26.29 34 1.96 32.86

Proposed CDR One fully functioning arm with emergency stop mechanism Arduino’s networked through Raspberry Pi’s Simulated game sent from Arduino over network to active arm Second arm built without emergency stop Arduino Raspberry Pi Robotic Arm With Player Simulated Game Steve L

Gantt Chart Zach

Demo

Questions?