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Project Proposal: 3D Robotic Arm Continuation
Southeastern Louisiana University Fall 2016 ET Senior Design I Presented by: Jace Babin, Andrew Brouillette, Bach Nguyen, Bryce Schell, Alexander Stein Advisor: Dr. Cris Koutsougeras
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Introduction With advances in technology, robotics have begun to become more capable and are able to go where humans can not or should not go. The concept of the finished project has many uses and would be a great way to demonstrate our knowledge of Engineering Technology. Examples of robotic application: EOD robots (Explosive Ordnance Disposal) Robotic Surgical Systems Robot Nurse or Helper UAVs (Unmanned Aerial Vehicle)
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The Current Hand Design
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All the finger not all the same size Not enough functions
Issues Not enough DoF All the finger not all the same size Not enough functions Only one wire Too flat Tip of finger Showing cable channel Resolutions Resizing finger for a smaller scale Add more cables Enable more degree of freedom. Add more curves Fingers and Joints
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DC Motors to Curl Finger
Issues The cables are too stiff They are easily bended Not malleable Flexible cable that allows for push and pull force transmission Resolutions Find a another possible candidate for cable Add a valve on the actuators Reduce the bending while the cable moves DC Motors to Curl Finger
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Flat and unrealistic hand Single wire for each finger
Issues Flat and unrealistic hand Single wire for each finger Resolutions Curvy Smaller Add wire room and pathways Bowden Cable Design Wire Channels
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The Current Control of the Hand
Issues Too many motor drives Power consumption issues Raspberry Pi 1 doesn’t have enough connection Raspberry Pi 1 doesn’t have enough power Old code Resolutions Clean up wires in the circuit Use to Raspberry Pi 3 Add a more efficient motor drive modular Write new code The Current Control of the Hand
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DC Motors for open and close & Servos for articulate Controls
Issues Can be easily stripped from the screws DC motors have no boundaries Takes up too much space Resolutions Redesign parts-smaller design Secure connection between screws Secure connection between the DC motors Compact the design DC Motors for open and close & Servos for articulate Controls
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Not functioning properly Inaccurate Needs to be rewired
Issues Not functioning properly Inaccurate Needs to be rewired The bend sensors are not secure The current design only support open and close Resolutions Rewire the glove Secure the connection Find a way to fasten the bend sensors to the glove Add a sensor to calculate the articulation of the finger Control Glove
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Jace Babin will be working on the communications between the robotic hand and the user glove that will control the movements of the robotic hand. Andrew Brouillette will be working with the motors to control the movement of the hand , helping to program the Raspberry Pi for the connectivity with the glove. Bach Nguyen will be in charge of the timeline for each member tributing to the project and of creating a new glove for the user to control the robotic arm. Bryce Schell will be working in SolidWorks to create more efficient parts needed to replace the old set of fingers and hand. Alexander Stein will be leading of the assembling of the fingers/hand Coding degrees and controls for the additional wiring to the hand. Responsibilities
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Deliverable Deliverable Finish a redesign of the hand Design new parts
Assemble SolidWorks parts Assemble wiring throughout hand Programing finger movement Redesign the DC motor screw Controls for wires(3) for a fingers(4) Controls for wires(3) for thumb Control glove Design new glove Assemble glove Program glove readings Connection to fingers
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Oct 5th - 19th: Research and design the fingers for more articulate method Design fingers in SolidWorks Assemble fingers/wiring Research new glove sensors/communication Research replacement for DC screws for fingers Oct 20th - Nov 4th: Assemble glove sensors Start coding glove sensors Implement/test improved microcontroller for the hand Assemble replacement for DC screws for fingers Nov 5th - Nov 19th: Connect finger wires to DC replacement Program the all finger movement functions Create working glove Nov 20th - Dec 4th: Connect fingers to glove Finalize the code the glove sensors to fingers Prepare/critique end of semester final presentation Timeline
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Questions Comments Concerns?
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