Presented by Yuntian Lu Dummy Arm Team 4 Abstract: An remote controlled robot arm with 5 degree of freedom. It is controlled by a control sleeve. Control sleeve is responsible for measuring the motion of the human arm. Robot arm will mimic the same motion. Presented by Yuntian Lu

Block Diagram

Microcontroller Design Constraints At least 5 ADC channels for capturing the degree of freedom of each beam. At least 5 PWM channels for motor speed control. Enough flash memory for storing the trig. function’s look up table. SPI availability for Xbee interface. 3.3 V operating voltage is preferred to match the operating voltage of other parts SCI availability and on-chip debug mode are preferred for debugging

Two Candidate Microcontrollers ATUC64D3 64KB flash 7 PWM channel 8 ADC channel SPI and I2C available 51 possible I/O pins Package: TQFP Price: $6.62 MC9S12C64CFAE 64KB flash 6 PWM channel 8 ADC channel SPI and SCI available 31 possible I/O pins Package: LQFP Price: $11.66 Back up: MC9S12H128 128KB flash 6 PWM channel 8 ADC channel SPI, SCI, I2C available 85 possible I/O pins Package: LQFP Price: $20.12

Thank you!