Slide 1IntroductionDesign GoalsDesign Goals (Continued…)Design SpecificationsSlide 6Slide 7Mechanical ArmElectronicsSuggestions for Future ImprovementConclusionECE 480 Design Team 3 Doug’s Kitchen RobotTeam Members - Thomas Manner - Ali Alsatarwah - Ka Kei Yeung - Daniel PhanTeam Facilitator- Professor Lixin DongIntroduction•Project Objectives:•Design Wall Mounted Robotic Unit for Doug•Lifting and transporting kitchenware and other items across the kitchen workplace•Design wireless controller interface •Easy to operate for people with limited muscular movements.•User friendly design, accessible to other disabilitiesDesign Goals•Capabilities of the Robotic unit Lift and carry a pot of water weighing 30lbsVariable speed movements, but limited to a safe rangeGripper and hooks for picking up kitchenwareRotating gripper to assist in stirring food on the stoveDesign Goals (Continued…)•Miscellaneous GoalsDurability and AestheticsEasy to MaintainEasily Replaceable Circuitry and Mechanical Components Controls Should Be Programmable For Future UpgradesDesign Specifications•Arduino Fio:•Controller and Receiver•Digital I/O (14)•PWM (6), 10bits•Connection:•XBee Radio•1.2 GHz, PAN•Programmable•Controller InterfaceThree joystick Design (X, Y, Rotational Arm etc.)Wireless & Safety (cords)Modified ShaftsReset and On/Off buttons•Motors and FeedbackHigh Power Motors (final)Photo InterrupterFeedback PWMsInterrupt & Position ValueEnd Point Detection & Obstruction211 2•ProgrammingArduino SketchesOpen Source, C++ BasedRead Analog from JoystickSend PWM Signal (speed) and DirectionSensor 1 – InterruptsSensor 2 – DirectionUpdates PositionObstruction and End Points?Mechanical Arm•Cylindrical Coordinates•Conversion to Cartesian•Motor Configuration•Tracks•Rotation•MountingElectronics•Controller•Arduino Fio Microcontroller•XBee RF Radios•Analog Joysticks•Motor Drivers•H-Bridge Driver•Power SupplySuggestions for Future ImprovementBuy or customize new H-bridge motor driversProgram the robotic arm to have Cartesian movementsUse signals from sensing system to calculate position, speed, and directionProgram some automated movementsConclusion•Wireless Controller Interface•Mechanical Arm Design•Sensing System•Demonstration of Sensing
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