1. Wright State University Jenny Broering Mike Hill Rahul Shah Michael Wasco

2. Problem Statement The purpose of this project is to design and manufacture robotic manipulator to assist younger patients with daily activities, such as retrieving things from the ground or immediate environment. Basic Requirements –0.75 m reach from front of wheelchair –Each linkage must move no more than 0.25 m/s –Lift 0.5 kg mass (1.1 lbs.) with 7.5 cm in diameter –Maximum cost of $4,500 (excluding controllers)

3. Agenda Design Constraints Robotic Arm Design (detailed) Conclusions Questions

4. Design Constraints Arm, including motors, must weight less than 30 lbs. –Keeps wheelchair balanced Dimensions of arm/base must not exceed 6 inches –Wheelchair must be able to fit through standard doorways

5. Design Constraints Keep shoulder and elbow motors at the base –reduces weight on arm itself –transmit power to elbow via shaft Aluminum 2024 –High Strength-to-Weight ratio –Lightweight compared to steels (2770 vs. 8030 kg/m 3 )

6. WSU Arm Design

7. Orientation of Base Motors Mounting position –Length along chair allows space for base plate –Straight layout allows for easy mounting possibilities Two large motors displaced from arm –Reduces torque –Makes links slimmer and lighter

8. Base Configuration

9. Shoulder Motor Required Torque: 465 in-lbs (7433 oz-in) Speed Requirement: 2.65 RPM Suggested motor and gearhead: –K & D Magmotor servo motor (model # C33-I-200E08) –Carson 34EP100 NEMA 34 gearhead (100:1) –477 in-lbs provided

10. Shoulder Motor Servo amplifier suggested to slow speed down to required speeds –connecting directly to 24 VDC will give an output of 10 RPM –connecting 24 VDC to a servo amplifier, we can set a speed from 0-10 RPM

11. Shoulder Motor Dimensions and Costs Motor –5.15” length –3.38” diameter –apr. 5 lbs. –$134.00 Gearhead –5.43” length –3.25” diameter –9.68 lbs –$700.00 Amplifier –$439.00

12. Elbow Motor Required Torque: 237 in-lbs (3797 oz-in) Speed Requirement: 4.4 RPM Suggested motor and gearhead is the same as shoulder motor: –K & D Magmotor (model # C33-I-200E08) –Carson 34EP100 NEMA 34 gearhead (100:1) –477 in-lbs provided

13. Elbow Motor Dimensions and Costs Same as Shoulder motor choices Motor –5.15” length –3.38” diameter –apr. 5 lbs. –$134.00 Gearhead –5.43” length –3.25” diameter –9.68 lbs –$700.00 Amplifier –$439.00

14. Upper Arm Comprises of two links Dimensions:410 x 50 x 5 mm. Weight:0.8772 lbs. Advantages: –slots cut to reduce the weight –Provide support for the shaft and the lower arm –encompasses the parts

15. Upper Arm

16. Bearing Plate Provides structural support Slot provided for compact closing of the arm Dimensions:100 x 50 x 10 mm. Weight:0.23 lbs.

17. Elbow motion using the shaft, bevel gears and rod. Weight: –Rod: 0.045 lbs. –Shaft : 0.614 lbs. –Bevel Gears: 0.0278 lbs. each Elbow Joint

18. Advantages: –eliminates the motor-on-joint assembly. –reduces torque on the shoulder motor. Elbow Joint

19. Lower Arm Single shaft design Two slots –decrease weight Symmetric placement between the two upper arm links reduced unwanted torsion.

20. Lower Arm Dimensions:320 x 50 x 5 mm. Weight:0.3498 lbs.

21. Differential Assembly (wrist) Motor-on-Gear Design Off the Shelf vs. Machined Dimensions

22. Design Two Axes Movement –Gears spin in same direction, gripper pitches up/down –Gears spin in opposite directions, gripper rolls cw/ccw Motor-on-Gear Design –Gear is attached to motor shaft –Motor shaft/gear have same axis of rotation

23. Off-the-Shelf vs. Machined Currently searching for off-the-shelf models that can be incorporated into the design space Machined differential will drive the cost up significantly

24. Dimensions Approx. Size (w/o motors) : 162x120x50 mm Weight (w/o motors) : 1.7 lbs

25. Differential Assembly (wrist)

26. Differential Motors Orientation of motors provide a direct application of the gear movement Differential design allows motors to work together thus reducing the size and cost of motors

27. Differential Motors Torque requirement: 107.2 oz-in Speed Requirement: 15.7 RPM Suggested motor: –Barber-Colman permanent magnet DC Motor with gearhead (model # EYQF-33300-661) –12 VDC –160 oz*in –9 RPM

28. Differential Motor Dimensions and Costs Motor –2.5” length –1.5” diameter –weighs 9 oz. –$74.00 ea.

29. End Effecter (Gripper) Motor-screw powered movement Three Fingers Dimensions

30. Gripper

31. Motor-Screw Powers the closing action Will weigh less then 1.5 pounds open/close control variable closing pressure

32. Three Fingers Better stability Pick-up a wide variety of sizes 7.5cm-.5cm Middle finger has lip for round objects Fork lift design Non-slip cork/rubber padding

33. Dimensions Each finger is 95 x 25 x 2 mm Weighs only.333 kg w/o motor-screw Hollow casing 50 x 95 mm –2 mm wall thickness

34. Torque Calculations Note that the weight of the materials were taken to act at the farthest distance possible a b c d

35. Motor Speed Calculations 0.902 m 0.542 m 0.1524 m  = L/V

36. Summary Main motors placed at base Design uses 5 motors Design gives 5 axes of motion. Upper arm is slightly longer than lower arm Differential Design Three finger Gripper

37. Summary Motor cost:$2768.00 Material cost:$ 150.00 (est.) Machining cost: Total weight. 36 lbs

38. Disadvantages Improper folding of arm –not certain if folding is within 6 in. –motor placement on differential makes wrist bulky Overall assembly is overweight by 6 lbs.

39. Advantages Meets nearly all of the constraints / requirements. Shaft –allows transfer of more power to the lower arm –allows reduction of torque on the shoulder motor. Use of plates instead of tube reduces overall weight considerably

40. Advantages Can lift objects from the floor or from table- tops. Torque requirements met by motors. Versatile gripper. Use of Aluminum 2024 in most parts –consistency in material –high strength to weight ratio (used in airframes)

41. ?? Questions ??