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ECE 480 Design Team 3 Doug’s Kitchen Robot

ECE 480 Design Team 3 Doug’s Kitchen Robot. Team Members - Thomas Manner - Ali Alsatarwah - Ka Kei Yeung - Daniel Phan Team Facilitator - Professor Lixin Dong. Introduction. Project Objectives : Design Wall Mounted Robotic Unit for Doug

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ECE 480 Design Team 3 Doug’s Kitchen Robot

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  1. ECE 480 Design Team 3 Doug’s Kitchen Robot Team Members - Thomas Manner - Ali Alsatarwah - Ka Kei Yeung - Daniel Phan Team Facilitator - Professor LixinDong

  2. Introduction • 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 disabilities

  3. Design Goals • Capabilities of the Robotic unit • Lift and carry a pot of water weighing 30lbs • Variable speed movements, but limited to a safe range • Gripper and hooks for picking up kitchenware • Rotating gripper to assist in stirring food on the stove

  4. Design Goals (Continued…) • Miscellaneous Goals • Durability and Aesthetics • Easy to Maintain • Easily Replaceable Circuitry and Mechanical Components • Controls Should Be Programmable For Future Upgrades

  5. Design Specifications • Arduino Fio: • Controller and Receiver • Digital I/O (14) • PWM (6), 10bits • Connection: • XBee Radio • 1.2 GHz, PAN • Programmable

  6. 1 2 1 2 • Controller Interface • Three joystick Design (X, Y, Rotational Arm etc.) • Wireless & Safety (cords) • Modified Shafts • Reset and On/Off buttons • Motors and Feedback • High Power Motors (final) • Photo Interrupter • Feedback PWMs • Interrupt & Position Value • End Point Detection & Obstruction

  7. Programming • Arduino Sketches • Open Source, C++ Based • Read Analog from Joystick • Send PWM Signal (speed) and Direction • Sensor 1 – Interrupts • Sensor 2 – Direction • Updates Position • Obstruction and End Points?

  8. Mechanical Arm • Cylindrical Coordinates • Conversion to Cartesian • Motor Configuration • Tracks • Rotation • Mounting

  9. Electronics • Controller • Arduino Fio Microcontroller • XBee RF Radios • Analog Joysticks • Motor Drivers • H-Bridge Driver • Power Supply

  10. Suggestions for Future Improvement • Buy or customize new H-bridge motor drivers • Program the robotic arm to have Cartesian • movements • Use signals from sensing system to calculate • position, speed, and direction • Program some automated movements

  11. Conclusion • Wireless Controller Interface • Mechanical Arm Design • Sensing System • Demonstration of Sensing System

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