Dummy Arm Team 4

Dummy ArmECE 477 Final Presentation Team #4Presented by:Yuntian Lu Jun Yao Wudi Zhou Chuan He (From Left to Right)OutlineProject overviewBlock diagramDesign challengesIndividual contributionsProject demonstrationQuestions / discussion

Project OverviewAn remote controlled robot arm with 6 degree of freedom. It consists of two major component control sleeve and robot arm. Control sleeve is responsible for measuring the motion of the human arm. Robot arm will mimic the same motion. controlled robot arm with 6 degree of freedom. It consists of two major component control sleeve and robot arm. Control sleeve is responsible for measuring the motion of the human arm. Robot arm will mimic the same An remote controlled robot arm with 6 degree of freedom. It consists of two major component control sleeve and robot arm. Control sleeve is responsible for measuring the motion of the human arm. Robot arm will mimic the s

Block Diagram

Design ChallengesServo MotorsPower RegulationInternal ClockI2C SensorsAngle CalculationsXBee CommunicationPackage Design

Chuan HeTeam LeaderPeripheral driver for I2C, Flash, Timer, GPIO, ClockSchematic/PCB design for Control SleeveSoftware development for Control Sleeve Internal communication protocol developmentIntegration and debugging Helped with final package

Yuntian LuSchematic/PCB design for robotic armPower supply designPeripheral driver for ADC and PWMSoftware development for robotic arm and position tracking algorithmInternal communication protocol developmentIntegration and debugging Helped with final package Wudi ZhouHardware and packaging design Soldered two of our PCBs and made peripheral circuits Design and packaging the sensors for control sleeveFinish the final packagingTesting and debugging Yuntian and I tested the whole system in different stages of the designDebug the algorithms to get correct PWM signals for our motors

Jun YaoHardware selection robotic armSchematic PWM moduleSoftware development XBee, LCD, internal clock setup Packaging prototype box panel layout

Project-Specific Success CriteriaAn ability to precisely control the position of the robotic arm which has six degrees of freedomAn ability to sense and capture the motion of human (users) arm including grasp, rotations of wrist, elbow and shoulder.An ability to record and store the actions at least 60 seconds performed by robot arms for repeating the same actions in the futureAn ability to display degree of each motor and pressure on the gripper onto LCDAn ability to encode and decode an control signals and send the signal through wireless module.

Thank you!