Project Overview- Strong Arm

1. Project Overview- Strong Arm ECEN 4160, Spring 2005 Thaine Hock Matt Corne Sammit Adhya Luz Quiñónez

2. Project 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 system Adhya, Corne, Hock, Quinonez

3. Outline of Approach LED Detection Grid Microcontroller- Freescale 68MC12 Robotic Arm- LynxMotion PWM GPIO FPGA- Xilinx XCS10 GPIO LCD- Optrex Serial CS Signals GPIO Serial Finger Sensors Touch Screen Adhya, Corne, Hock, Quinonez

4. Finger Sensors • Polar Coordinate Control System • Push Buttons and Limit Switches • Six directions of control • Grip and Release Adhya, Corne, Hock, Quinonez

5. Finger Diagrams Limit Switch controls z axis (up) /Button controlsz axis(down) Limit Switch controls Φ axis (right) /Button controlsΦ axis(left) Thumb button controls grip Limit Switch controls r axis (forward) /Button controlsr axis(back) Adhya, Corne, Hock, Quinonez

6. FPGA • Controls the IR Detection Array • Determine Initial Block Positions • Send Polar Coordinate Position to Micro Controller Using Memory-Mapped Registers • Create all needed glue logic for PCB Adhya, Corne, Hock, Quinonez

7. FPGA Schematic Adhya, Corne, Hock, Quinonez

8. Arm • Lynxmotion Robotic Arm • Six degrees of freedom • Base rotation, shoulder, elbow, wrist motion, wrist rotate, and a functional gripper Adhya, Corne, Hock, Quinonez

9. Movement Calculations Adhya, Corne, Hock, Quinonez

10. Microcontroller • Compute servo positions • Produce PWM signals to control servos • Process finger sensor data • Process touch screen data Adhya, Corne, Hock, Quinonez

11. Microcontroller Schematic Adhya, Corne, Hock, Quinonez

12. Bus Design Adhya, Corne, Hock, Quinonez

13. Microcontroller and Bus Adhya, Corne, Hock, Quinonez

14. PCB Layout Adhya, Corne, Hock, Quinonez

15. User Interface • QVGA LCD with 8-wire resistive touch screen • Interfaces to MPU through dual serial interfaces. • Able to store images in onboard 16Mbit flash memory. Adhya, Corne, Hock, Quinonez

16. IR Sensors Adhya, Corne, Hock, Quinonez

17. Parts List Adhya, Corne, Hock, Quinonez

18. Startup Software Diagram Power On Initialize 68MC12, FPGA, And Arm Position Registers FPGA- Block Detection 68MC12- Initial Block Positions 68MC12- Main Routine Block Pos. Block Pos. Depending on how many blocks… Adhya, Corne, Hock, Quinonez

19. Control Software Flow 68MC12- Main Routine Poll Finger Sensors Calculate Servo Positions No Data Generate PWM Signals Update User Interface Adhya, Corne, Hock, Quinonez

20. Division of Labor • Finger Sensor • Thaine • FPGA Implementation • Sammit • PCB and Micro controller • Thaine • Robotic Arm Algorithms • Sammit and Matt • IR Sensor and Block Detection • Luz • User Interface • Matt Adhya, Corne, Hock, Quinonez

21. Schedule Adhya, Corne, Hock, Quinonez

22. Milestones • Milestone 1: • User will move robotic arm in one direction using our commands produced by our board. • Milestone 2: • Robotic arm will be able to pick up and move a block in 3 dimensions. Also, initial user interface with touch screen will be complete. Adhya, Corne, Hock, Quinonez

23. Milestone (cont…) • Open Lab: • User ability to control robotic arm in the relocation of blocks to a predefined location. • Once task is finished (successful or not), system will locate blocks and reset them to a known operating position. • User (or helper) will interface with system using a color touch screen. Adhya, Corne, Hock, Quinonez

24. Risks and Contingency Plan • Mapping cylindrical coordinates to servo positions may prove difficult • IR sensors not sensitive enough to detect block positions • Fall Back Plan: • A helper can physically reset system to known operating state Adhya, Corne, Hock, Quinonez

25. Cost (BOM) Actual Expenditures Anticipated Expenditures Adhya, Corne, Hock, Quinonez

26. Economic Aspects and Marketability • 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 benefit1 1:http://www.sci-info-pages.com/facts.html Adhya, Corne, Hock, Quinonez

27. Sustainability and Manufacturability • 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

28. Pros Can be mostly lead-free No byproducts Cons Would need large battery (most likely toxic) Consumes large amounts of power Environmental Impact Adhya, Corne, Hock, Quinonez

29. Impact on Society • Full scale device would allow some handicapped persons to be able to perform more physical tasks, qualifying them for more job opportunities Adhya, Corne, Hock, Quinonez

30. Questions? Thanks!