1. TOY CATCHER By: Asma’a Salman Sondos Ishtawi Supervised by: Dr. Raed AL-Qadi

2. C ONTENT Overview Mechanical part Sensors Controller part Conclusion

3. C ONTENT Overview Mechanical part Sensors Controller part Conclusion

4. O VERVIEW  Toys Catcher is a machine which challenges the user to capture items (stuffed toys, balls and more valuable prizes) that are placed in a wooden box.  The Player wears a special glove and moves his hand left – right, forward - backward and closes his fist in order to control wirelessly a moving shaft that ends with a gripper.

5. O VERVIEW  Our project can be used to control a group of components coordinated together to complete a specific tasks.  Various applications in real life: Clean Rooms Quarantine Environments (e.g. Chemical laboratories)

6. C ONTENT Overview Mechanical part Sensors Controller part Conclusion

7. M ECHANICAL PART

8. X-Y Table Box. Timing Belts Pulleys Gripper Motors

9. M ECHANICAL PART  X-Y Table:  Profile 2.5cm used to build X-Y Table box with 60 X 77cm dimension.

10. M ECHANICAL PART  Timing Belts:  Control and transfer the movement between pulleys (pulley moves  belt rotate). Two Belts  Y-Axis direction One Belt  X-Axis direction.

11. M ECHANICAL PART  Pulley:  Fixes the belts that connected to motors (belt move  motor move).  Seven pulleys are used: Four Pulleys  Y-Axis direction Two Pulleys  X-Axis direction. One Pulley  Up and Down direction

12. M ECHANICAL PART  Gripper:  end of arm tooling used to catch stuffs.  Controlled by a servo motor.

13. M ECHANICAL PART  Motors:  Three Types of Motors are used: DC Motors. Servo Motor. Stepper Motor.

14. M ECHANICAL PART  Motors- DC Motors:

15. M ECHANICAL PART  Motors- DC Motors:  Responsible for the movement of gripper in X-Y axis direction.  Direction of movement controlled wirelessly.  Car motors was our choice for our project.

16. M ECHANICAL PART  Motors- DC Motors:  H-Bridge : o Reflect the direction of DC Motor motion. o Controlled wirelessly by Accelerometer (located on the glove)

17. M ECHANICAL PART  Motors- Servo Motor:

18. M ECHANICAL PART  Motors- Servo Motor:  Control open and close motion of gripper via PWM.  Flex sensor (located in the glove) control wirelessly movement of gripper.

19. M ECHANICAL PART  Motors- Stepper Motor:

20. M ECHANICAL PART  Motors- Stepper Motor:  Control up and down motion of shaft that ends with a gripper.  Flex sensor (located in the glove) control wirelessly movement of shaft.

21. C ONTENT Overview Mechanical part Sensors Controller part Conclusion

22. S ENSORS

23.  Player hand act as a main controller of all mechanical part components.  Two type of sensors are used: Flex Sensor. Accelerometer Sensor.

24. S ENSORS Accelerometer:

25. S ENSORS  Accelerometer :  ADXL335 Accelerometer Sensor is Small and thin component. low power. Complete 3-axis  Control the DC motor movement in X-Y Axis direction.

26. S ENSORS Flex Sensor:

27. S ENSORS  Flex Sensor:  Control motion of : Servo Motor ( open and close the Gripper ) Stepper Motor ( up and down the shaft that ends with gripper)  Flex bent  resistance changed  Output value changed  motion of motors changed

28. S ENSORS Wireless XBee

29. S ENSORS  Wireless XBee:  Send results of sensors (located on the glove ) to microcontroller that control the mechanical part. Transmission speed 25-250 kbps. Frequency 2.4 GHz ( 16 channel) Range 100 meter.

30. C ONTENT Overview Mechanical part Sensors Controller part Conclusion

31. C ONTROLLER PART  Sender Circuit  Receiver Circuit

32. C ONTROLLER PART  Sender Circuit:

33. C ONTROLLER PART  Sender Circuit: Microcontroller Chip( PIC18F4620) Accelerometer Sensor. Flex Sensor. Wireless XBee Component. Regulator ( 9 V  5 V)

34. C ONTROLLER PART  Receiver Circuit:

35. C ONTROLLER PART  Receiver Circuit: Microcontroller Chip( PIC18F4620) H-Bridge ULN2003 Wireless XBee Component. Regulator ( 9 V  5 V)

36. C ONTROLLER PART User wear the Glove Finger Movement Shaft move down Gripper close Shaft move up hand’s movement Shaft move +ve, -ve X-Axis Left-Right Shaft move +ve, -ve Y-Axis Forward – Backward Movement Shaft move down Gripper Open Shaft move up

37. C ONTENT Overview Mechanical part Sensors Controller part Conclusion

38. C ONCLUSION  We build a system using microcontroller PIC18f4620, that can be divided into many parts: 1. Wireless part. 2. Sensor 3. Mechanical part  We apply that in a funny application, TOYS CATCHER.

39. Thank you