Project Overview- Strong ArmProject GoalsOutline of ApproachFinger SensorsFPGAMicro ControllerServo ControllerArmMagnetic SensorsDivision of LaborScheduleRisks and Contingency PlanEconomic Aspects and MarketabilitySustainability and ManufacturabilityEnvironmental ImpactImpact on SocietyQuestions?Project Overview- Strong ArmProject Overview- Strong ArmECEN 4610, Spring 2005Thaine HockMatt CorneSammit AdhyaLuz QuiñónezAdhya, Corne, Hock, Quinonez 2Project GoalsProject GoalsTo design and build the controlling electronics for a six-axis robotic arm that can be controlled through the use of simple finger motionsArm will allow paraplegics to control robotic arm in three dimensionsProof of concept of a larger scale device and training systemAdhya, Corne, Hock, Quinonez 3Outline of ApproachOutline of ApproachFinger SensorsMicro ControllerFPGAServo ControllerArmMagneticSensorsUserInterfaceAdhya, Corne, Hock, Quinonez 4Finger SensorsFinger SensorsPolar Coordinate Control System–Push Buttons and Limit Switches–Six directions of control–Grip and ReleaseAdhya, Corne, Hock, Quinonez 5FPGAFPGAUses Magnetic Sensor as Inputs–Determine Initial Block PositionsSend Polar Coordinate Position to Micro Controller Using Memory-Mapped RegistersAdhya, Corne, Hock, Quinonez 6Micro ControllerMicro ControllerThe Brain! Boahahahahaha!!!–Freescale 68HC912DG128A•8KB SRAM•2KB EEPROM•128KB FLASH•SCI, SPI•ADC Onboard•69 I/O PinsAdhya, Corne, Hock, Quinonez 7Servo ControllerServo ControllerControl Six Servos Using Serial Interface–Generates PWM signals to servosAdhya, Corne, Hock, Quinonez 8ArmArmLynxmotion Robotic Arm–Six degrees of freedom•Base rotation, shoulder, elbow, wrist motion, wrist rotate, and a functional gripperAdhya, Corne, Hock, Quinonez 9Magnetic SensorsMagnetic SensorsPlace Magnets Inside Blocks Build Magnetic Flux Detection Grid–Detect location of block using triangulationAdhya, Corne, Hock, Quinonez 10Division of LaborDivision of LaborFinger Sensor–ThaineFPGA Implementation–SammitPCB and Micro controller–ThaineRobotic Arm Algorithms–Sammit and MattMagnetic Sensor and Block Detection–LuzUser Interface–MattAdhya, Corne, Hock, Quinonez 11ScheduleScheduleAdhya, Corne, Hock, Quinonez 12Risks and Contingency PlanRisks and Contingency PlanMapping cylindrical coordinates to servo positions may prove difficultMagnetic sensors not sensitive enough to detect block positions–Possible use of ultra-sonic sensorsAdhya, Corne, Hock, Quinonez 13Economic Aspects and Economic Aspects and MarketabilityMarketabilityTraining unit cost is relatively lowPractical arm cost will be very highModerate demandPossibility of medical insurance covering some/most of the costApprox 7800 Spinal Cord Injuries each year, many of them could benefit11:http://www.sci-info-pages.com/facts.htmlAdhya, Corne, Hock, Quinonez 14Sustainability and Sustainability and ManufacturabilityManufacturabilityParts widely available for control circuitry. Can be used with many different armsEffect of component tolerances are low except for a small handfulAuto-test routines in softwareComplies with regulations and is safe to operate (training version)Adhya, Corne, Hock, Quinonez 15Environmental ImpactEnvironmental ImpactProsCan be mostly lead-freeNo byproductsConsWould need large battery (most likely toxic)Consumes large amounts of powerAdhya, Corne, Hock, Quinonez 16Impact on SocietyImpact on SocietyFull scale device would allow some handicapped persons to be able to perform more physical tasks, qualifying them for more job
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