15 Appendix b
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APPENDIX B 67
Final Year Project MCT4198/4299 2008/2009
APPENDIX B
Development cost
Components Model Unit Price (RM) Quantity Total (RM)
Acrylic plastic - 1.00 4 4.00
Servo motor C17S (1800) 55.00 3 165.00
C36S (1800) 50.00 1 50.00
Motor driver SC16A 150.00 1 150.00
PIC Start-up kit SK40B 78.00 1 78.00
PIC 16F77A 25.00 1 25.00
Others - - - 20.00
Total cost (RM) 492.00
Table AB.1: Development cost
Four Links Hyper Redundant Photos
Figure AB.1: Four links hyper redundant robotics manipulator
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APPENDIX B 68
Final Year Project MCT4198/4299 2008/2009
Components Details
Figure AB.2: Servo motor controller layout
Figure AB.3: Connection of SC16A to PIC
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APPENDIX B 69
Final Year Project MCT4198/4299 2008/2009
Figure AB.4: SK40B PIC start-up kit
Figure AB.5: GUI layout for servo controller
Figure AB.6: RS232 USB serial converter
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APPENDIX B 70
Final Year Project MCT4198/4299 2008/2009
Figure AB.7: MATLAB Graphical User Interface
Project Scheduling
Process
Week
1 2 3 4 5 6 7 8 9 10 11 12 13 14
Title registration
Literature review
Analysis
Components selection
Mechanical design
Electrical design
Controller design
Simulation
Testing and debugging
Report writing
Presentation
Table AB.2: Gantt chart for project 1
Process
Week
1 2 3 4 5 6 7 8 9 10 11 12 13 14
Fabrication
System integration
Performance testing
and evaluation
Performance
improvement
Report writing
Presentation
Table AB.3: Gantt chart for project 2