1. 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

2. 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)

3. The Current Hand Design

4. 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

5. 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

6. 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

7. 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

8. 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

9. 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

10. 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

11. 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

12. 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

13. Questions Comments Concerns?