Robotic Backhoe with Haptic Display Project goals System concept Component selection Hydraulic circuit Modeling Kinematic simulation.

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Presentation transcript:

Robotic Backhoe with Haptic Display Project goals System concept Component selection Hydraulic circuit Modeling Kinematic simulation

Project Goals Purpose of today’s visit is to determine the project goals! Perceived Goals: Apply haptic user interface to backhoe control Design cost-effective system Increase operator efficiency Demonstrate proof-of-concept Integrate GPS with kinematic positioning for vehicle guidance, avoiding hazards

Robotic Backhoe System Concept Desired bucket position (force input) Position Sensors Controller Valves  Valve command signals Hydraulic oil flow Joint angles Joint angle measurements Joystick position Bucket position Joystick w/haptic Display Backhoe Pressure Sensors Cylinder pressures Pressure measurements Haptic forces

Component Selection Parts tentatively selected thus far: Joystick w/Haptic Display –Phase 1: Personnel Haptic Interface Mechanism (PHANTOM) –Phase 2: Industrial grade active joystick Valves –Parker-Hannifin D1FT Proportional Solenoid Valve, or –HUSCO Electro-hydraulic Poppet Valve (EHPV) Sensors –2-axis accelerometer tilt sensors, or –Angle encoders –Pressure sensors? Controller –PC-104 running Matlab/Simulink and x-PC Target

Hydraulic Circuit BoomStickBucket from existing system

Modeling Operator Cylinders Joystick Soil Backhoe Valves Controller

Kinematic Simulation

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