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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 GoalsTo design and build the controlling electronics for a six-axis robotic arm that can be controlled through the use of simple finger motionsArm will allow paraplegics to control robotic arm in three dimensionsProof 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 SensorsPolar Coordinate Control System–Push Buttons and Limit Switches–Six directions of control–Grip and ReleaseAdhya, Corne, Hock, Quinonez 5FPGAFPGAUses Magnetic Sensor as Inputs–Determine Initial Block PositionsSend Polar Coordinate Position to Micro Controller Using Memory-Mapped RegistersAdhya, Corne, Hock, Quinonez 6Micro ControllerMicro ControllerThe Brain! Boahahahahaha!!!–Freescale 68HC912DG128A•8KB SRAM•2KB EEPROM•128KB FLASH•SCI, SPI•ADC Onboard•69 I/O PinsAdhya, Corne, Hock, Quinonez 7Servo ControllerServo ControllerControl Six Servos Using Serial Interface–Generates PWM signals to servosAdhya, Corne, Hock, Quinonez 8ArmArmLynxmotion Robotic Arm–Six degrees of freedom•Base rotation, shoulder, elbow, wrist motion, wrist rotate, and a functional gripperAdhya, Corne, Hock, Quinonez 9Magnetic SensorsMagnetic SensorsPlace Magnets Inside Blocks Build Magnetic Flux Detection Grid–Detect location of block using triangulationAdhya, Corne, Hock, Quinonez 10Division of LaborDivision of LaborFinger Sensor–ThaineFPGA Implementation–SammitPCB and Micro controller–ThaineRobotic Arm Algorithms–Sammit and MattMagnetic Sensor and Block Detection–LuzUser Interface–MattAdhya, Corne, Hock, Quinonez 11ScheduleScheduleAdhya, Corne, Hock, Quinonez 12Risks and Contingency PlanRisks and Contingency PlanMapping cylindrical coordinates to servo positions may prove difficultMagnetic sensors not sensitive enough to detect block positions–Possible use of ultra-sonic sensorsAdhya, Corne, Hock, Quinonez 13Economic Aspects and Economic Aspects and MarketabilityMarketabilityTraining unit cost is relatively lowPractical arm cost will be very highModerate demandPossibility of medical insurance covering some/most of the costApprox 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 ManufacturabilityManufacturabilityParts widely available for control circuitry. Can be used with many different armsEffect of component tolerances are low except for a small handfulAuto-test routines in softwareComplies with regulations and is safe to operate (training version)Adhya, Corne, Hock, Quinonez 15Environmental ImpactEnvironmental ImpactProsCan be mostly lead-freeNo byproductsConsWould need large battery (most likely toxic)Consumes large amounts of powerAdhya, Corne, Hock, Quinonez 16Impact on SocietyImpact on SocietyFull scale device would allow some handicapped persons to be able to perform more physical tasks, qualifying them for more job


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CU-Boulder ECEN 4610 - Project Overview- Strong Arm

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