By Alaa Dwikat Mohammad tami Supervised by Dr. Samer Arandi RoboArm By Alaa Dwikat Mohammad tami Supervised by Dr. Samer Arandi

Content Overview Mechanical part Sensors Communication Controller part Conclusion

Overview RoboArm is a machine which allows the user to capture items (stuffed toys, balls ) that are placed in a round. The player wears a special glove and moves his hand left – right, forward - backward and closes his fist in order to control wirelessly the moving arm that ends with a gripper.

Overview Our project can be used to control a group of components coordinated together to complete a specific tasks. Quarantine Environments (e.g. Chemical laboratories)

Content Overview Mechanical part Sensors Communication Controller part Conclusion

Mechanical part

Mechanical part Material Design Motors

Material of structure We used PVC It’s very light can be easily clipped

Design 4-degree-of-freedom robotic arm

Motors Two types of motors used DC motor Servo motor

Motors DC used for rotating the structure

Motors Servo motors It’s an angular position controlled Generate pwm to control the angel/position

Motors Servo motors

Content Overview Mechanical part Sensors Communication Controller part Conclusion

Sensors Player hand act as a main controller of all mechanical part components. Two type of sensors are used: Flex Sensor. Accelerometer Sensor.

Sensors Accelerometer Sensor Accelerometer is a device that measure acceleration in one, two, or three orthogonal axes [8]. The ADXL345 is a low-power, 3-axis accelerometer modules with both I2C and SPI interfaces

Sensors Accelerometer Sensor Small and thin component. low power. Complete 3-axis

Sensors Flex Sensor It’s simply a variable resister that changes value depending on its bend

Content Overview Mechanical part Sensors Communication Controller part Conclusion

Communication Wireless XBee

Communication Wireless XBee Send results of sensors (located on the glove ) to microcontroller that control the mechanical part. Frequency 2.4 GHz ( 16 channel) Data rate 250 Kbps Range 30 meters in door, and can reach up to 90 m outdoor. Point-to-point, point-to-multipoint and peer-to-peer topologies supported.

Content Overview Mechanical part Sensors Communication Controller part Conclusion

Controller part Sender Circuit Receiver circuit

Controller part

Content Overview Mechanical part Sensors Communication Controller part Conclusion

Conclusion We are able to simulate user hand movement by sending sensors data to the microcontroller that controls arm robot.

Future Work Provide an additional degree of freedom by add more axes. Using another module for wireless connection, so that the cost be cheap Finally we can design five-fingers hand instead of a gripper.

Demo Time