1. Robotic Arm Project Presentation
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Robotic Arm Project Presentation
Project Leader : Gregg Sutton
Education Lead: Alyssa Anglin
Programming Lead: Rachael Voss
Mechanical Design Team: Zachary Wood and Sarah Furrow

2. Robotic Arm
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3. Presentation Outline Project Overview Task Descriptions Status
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4. Robotic Arm Overview
Assists students in learning educational concepts.
Simulates the human arm.
Controlled using a SiLabs C8051F310 microcontroller.
Software developed in C (or assembly) using Silicon Laboratories software.
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5. The Robotic Arm Shall: be cost effective. model a human arm.
have the ability to lift a tennis ball or full soft drink can.
be as safe as possible!
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6. Robotic Arm Overview M M M Microcontroller SiLabs C8051F310 M M M
Overall schematic showing signal flow between the microcontroller, the h-bridge motor drivers, the motors, and the input controller. M
Input Controller M M
Dual
H-Bridge
Microcontroller
SiLabs C8051F310
Dual
H-Bridge M
Dual
H-Bridge M M
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7. Educational Objectives
The robotic arm will teach students:
mechanics of the human arm and its movement.
control of the human arm.
about robotics and engineering.
basic circuitry.
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8. Educational Outline Human Arm Mechanics Robotic Arm Mechanics
Interaction between muscles and bones
Range of motion
Robotic Arm Mechanics
Sliders as individual inputs
Range of motion (more limited)
Gears and motors
Robotic Arm Engineering
Design Process
Basic Circuitry
Potentiometers (inputs)
Microcontrollers (brain)
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9. Educational Activity
Task: Students will be required to move the Robotic Arm to a specified location and pick up small object.
Outcome: Students will learn about complexity of human arm movement.
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10. Mechanical Design The arm is constructed
Mounting of H-bridge drivers and micro in progress
Debugging mechanical operation
Elbow joint
Shoulder rotation servo
Forearm servo
Shoulder lift servo
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11. Analysis of Mechanical System
Analyzed torque required to lift a one pound load.
Determined additional requirements for servomotor selection.
Strain and Stress analysis was not performed due to the fact that the arm will only move light loads.
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12. Gripper The selected gripper is: constructed of lightweight aluminum.
able to open to
four inches.
able to lift a full
soft drink can or tennis ball.
donated last fall by .
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13. Arm Movement
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14. 2D view of shoulder
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15. Shoulder Lift and Pivot Joint
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16. Forearm Rotation Joint
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17. Elbow Joint
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18. Electromechanical Design
Determined interface of microcontroller, H-bridge drivers and servomotors
Selection of servomotors
Designing of electromechanical assemblies
Designing of input controller
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19. Electromechanical Interaction
The microcontroller will output direction and speed signals for each motor that will be sent to the H-Bridges, which in turn will be sent to the motors.
The position of the motors, supplied by internal potentiometers, will be sent back to the microcontroller to control the automatic power off of the motors when the limit of a joint is reached.
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20. Electromechanical Interaction
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21. Selection of Microcontroller
SiLabs C8051F310 Microcontroller
Has 29 I/O ports
20 ports can be used for Analog to Digital conversion (we need 12 for all of the inputs)
16Kb of non-volatile flash memory
UART interface for future
projects to program
movement, even possibly
through LAN
On chip hardware debugger
with step through capabilities.
Cheap!
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22. Selection of Servomotors
The servomotors:
purchased from HiTec RCD, USA, Inc.
are sized for each joint based on torque requirements.
include built-in circuitry (this was removed for control purposes)
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23. Selection of H-Bridge Drivers
The H-Bridge Drivers:
Purchased from Lynxmotion
Voltage =
4.8v - 12vdc
Peak Current =
2.0 amp (motors
draw ≈ 50 mA)
Each can drive two motors
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24. Designing of Input Controller
provides students with an interface to controlling the arm.
uses potentiometers to provide voltage input signals for
each motor.
is safe for
students to use.
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25. Input controller operation
Input controller will control the direction of the servomotor rotation.
The middle of the controller will be a “null zone” corresponding to no movement
Above the null zone will correspond to clockwise movement
Below the null zone will correspond to counterclockwise movement
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26. Input Controller Operation
INPUT CONTROLLER SLIDER DIAGRAM – GREGG’S RESPONSIBILITY
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27. Electronic Control System Design
Determine control software strategy
Inputs: feedback potentiometers and input controller
Outputs: Speed and direction
Safe shutdown procedure
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28. Robotic Arm Status Mechanical construction completed
Electromechanical design completed
Preliminary wiring completed
Educational material for students completed
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29. Robotic Arm Next Steps Mechanical debugging Finalizing software
Professionalize wiring
User manual
Educational lesson plan approval
Estimated delivery date: April 2005
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