1. 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

2. Block Diagram

3. 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

4. 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

5. Thank you!