2. Second Semester Design

3. Presentation Review  Electrical/Control System  Direct Drive Base  Motor Choices  End effecter development and plan  Review

4. Electrical / Control System  User interface RF control comes with receiver (analog input to microcontroller). Gamepad USB. Ran into problems with slave – slave connection. Would have to add additional USB host hardware/ software.  Hardware changes Change from BasicStamp to Rabbit microprocessor. ○ Rabbit has interrupts, Pulse Width Modulation (PWM), we are familiar with programming it. Motor controllers ○ Reuse motor minds where necessary ○ Shoulder motor comes with new motor Remove unused hardware ○ Mini- ITX Rebuild avionics box  Software Tasks Program Rabbit ○ User input to Rabbit ○ Rabbit to controllers ○ Control algorithm

5. Direct Drive Base Bearing Mounting Frame Fastener Motor Rotor Mounting Frame Motor Stator Base Frame

6. Weight of Motors and Gearboxes Previous Design Base Rotation: - Motor: 2.6 lbs Shoulder Joint: - Motor: 1.5 lbs - Gearbox: 14 lbs Elbow Joint: - Motor: 1.5 lbs - Gearing: 0.5 lbs Linear Actuator: - Motor:.2 lbs - Gearbox: 0.7 lbs Total Weight: 21 lbs New Design Base Rotation: - Motor: 0.8 lbs - Housing: 0.5 lbs Shoulder: 5.3 lbs Elbow Joint: - Motor: 1.3 lbs - Gearbox: 0.5 lbs Wrist Joint: - Motor: 0.6 lbs - Gearbox: 0.4 lbs Percussive Poker: - Motor: 0.2 lbs - Gearbox: 0.4 lbs Total Weight: 10 lbs

7. Percussive Poker Design  Goals Design and build a percussive poker prototype Finish it within two weeks  Test Goals Determine motor torque and rpm necessary Optimum poker stroke Test different tips tips

8. Design options  #1 Sewing machine drive

9. Design options  #2 Cam drive

10. Design Choice  Sewing machine action High bearing tolerances More moving parts Less torque than cam design  Cam action Simpler to machine and assemble Less moving parts Slightly more torque than sewing machine

11. Semester Goals  Poker Design Correct any major design flaws Design much lighter case Choose a suitable motor  Most/all of parts machined and assembled by March 7 th  Rest of semester for testing and improvement  Arm design completed when final motor decision made  Senior Design Expo April 25th

12. Gantt Chart