Robotic Arm Project
description
Transcript of Robotic Arm Project
EE/CS 481 Spring 2008
Founder’s Day, 2008 1University of Portland School of Engineering
Robotic Arm Project
AuthorsCorban Monger
Josh Triska
Ashlee Snodgrass
AdvisorDr. Lu, Dr. Chamberlain
Industry RepresentativeMr. Kosloski
EE/CS 481 Spring 2008
Founder’s Day, 2008 2University of Portland School of Engineering
Agenda
• Introduction Ashlee Snodgrass
• Background Ashlee Snodgrass
• Methods Corban Monger
• Results Josh Triska
• Conclusions Ashlee Snodgrass
• Demonstration Team
EE/CS 481 Spring 2008
Founder’s Day, 2008 3University of Portland School of Engineering
Introduction
Project:
• To create a human shaped hand and arm assembly for Dr. Lu
Purpose:
• To have a arm that Dr. Lu can use for research in Humanoid Mobile Robotics
EE/CS 481 Spring 2008
Founder’s Day, 2008 4University of Portland School of Engineering
Background
Our project focus = dexterity vs. strength and large movements
• Neat Details– Arm and hand allow fine movements– Ability to do American Sign Language (ASL)– Interesting integration of different disciplines
EE/CS 481 Spring 2008
Founder’s Day, 2008 5University of Portland School of Engineering
Methods• Steps for Project
– Planning• Brainstorming, Identifying need,
acquiring resources– Design Disciplines Involved
• Mechanical Engineering• Electrical Engineering• Firmware Programming
EE/CS 481 Spring 2008
Founder’s Day, 2008 6University of Portland School of Engineering
Methods
• Steps for Project Cont.– Gathering Materials and Resources– Manufacture and Programming
• Fabrication and Implementation– Metalworking Lathe and Milling Machine
– Printed Circuit Board Fabricated Offshore
– Hand and Arm Assembly• Bringing it all together!
EE/CS 481 Spring 2008
Founder’s Day, 2008 7University of Portland School of Engineering
Methods Cont.• Major Challenges
– Manufacturing Time Vs. Available Time
– Complexity– Lack of Discipline Specific
Experience– Making Own Tools– Tool Breakage
EE/CS 481 Spring 2008
Founder’s Day, 2008 8University of Portland School of Engineering
Methods Cont.
• Technical Sequence– Separated project by discipline sections– Consulted professors and experts in various
fields– Looked at documentation – Checked forum websites– Focused on modular design for easy
reparability
EE/CS 481 Spring 2008
Founder’s Day, 2008 9University of Portland School of Engineering
Results
• Three Main Subsections– Mechanical Engineering– Electrical Engineering– Firmware and Microcontrollers
EE/CS 481 Spring 2008
Founder’s Day, 2008 10University of Portland School of Engineering
Results Cont.
• Mechanical Engineering– Analysis, Simulation, and Design
Modular Design of Wrist, Forearm and Elbow
– Material Selection and Analysis• Focus on light-weight materials
– Machining• Producing the arm mechanical structure
EE/CS 481 Spring 2008
Founder’s Day, 2008 11University of Portland School of Engineering
Mechanical Design
EE/CS 481 Spring 2008
Founder’s Day, 2008 12University of Portland School of Engineering
Electrical Results
• Electrical Engineering– Servo Controller Board– Host Controller Board– Motor Controller Board– Board Manufacture
EE/CS 481 Spring 2008
Founder’s Day, 2008 13University of Portland School of Engineering
Servo Control
EE/CS 481 Spring 2008
Founder’s Day, 2008 14University of Portland School of Engineering
Results Cont.
• Firmware and Microcontroller Programming– Firmware and Network Protocols– Algorithm Development– User Interface Development– FAT8 File System Development
EE/CS 481 Spring 2008
Founder’s Day, 2008 15University of Portland School of Engineering
Results
EE/CS 481 Spring 2008
Founder’s Day, 2008 16University of Portland School of Engineering
Conclusions
• Robotic arm for humanoid mobile robotics• Project extent was from wrist to elbow• Successful design and implementation• Mechanical and Electrical Emphasis = Robust,
manufacturable and repairable• Modular design
EE/CS 481 Spring 2008
Founder’s Day, 2008 17University of Portland School of Engineering
Future Development
• Development of shoulder joint
• Research further reduction of weight
• Placing outer skin on arm
EE/CS 481 Spring 2008
Founder’s Day, 2008 18University of Portland School of Engineering
Demonstration
Demonstration will cover the hand signing 0-9 in ASL.
EE/CS 481 Spring 2008
Founder’s Day, 2008 19University of Portland School of Engineering
Thank You.
Are there any questions?