1. P10029: Control Enhancements for Air Muscle Biomimetic Hand October 16, 2009 Customer: Dr. Lamkin-Kennard Faculty Guide: Ed Hanzlik Zach Wessner, Jaci Tylkowski, Alex Bean Mark Wood, Tuan Tran, Kevin Mudrak Team Members:

2.  P10029 is a continuation project ◦ Physical system was built by P09023 ◦ Final design will be integrated into Dr. Lamkin-Kennard’s pneumatically driven scalable robotic hand devices  Controls system is the focus ◦ Maintenance and repair only of the physical system  Virtual and Physical prototypes ◦ Virtual system modeled in SolidWorks and both controlled by LabView

3.  Kinematic model - SolidWorks/Cosmos Motion Builder  Closed loop feedback for both hand and model.  Drive model using the inputs from the mechanical hand.  Virtual and Physical models output displacements  Quantitative analysis comparing displacements of mechanical hand to model.

4.  Top 3 Metrics based on the HOQ 1.Functionality 2.Accuracy 3.Repeatability

6. Inputs to LabView GUI -% of Travel -3 Space Location -System Selection (Physical/Virtual) -Coded Movements -Absolute/Relative Joint Position Physical Programming Function -convert input into time to open/close valves -convert DAQ voltages into position outputs Virtual Programming Function -convert GUI input into angular actuation for joints -convert sensor output to 3 Space Location Physical System ArchitectureVirtual System Architecture LabView GUI InputsOutputs

7. Originator: P09023 Date Created: 2008 2.5 to 10 VDC

8. Originator: P09023 Date Created: 10-3-2008

9. SoftMotion Functions Trajectory Generator Communication Interface (Scan Engine) Motion Simulation NI LabView 2009 w/ SoftMotionSolidWorks 2009 Premium User Input: [LabView Front Panel] Coordinate Move Single Axis Move User Input: [SolidWorks Assembly] Motion Analysis System Output: [SolidWorks Assembly] Visual Motion of Assembly System Output: [LabView Front Panel] Displacement Feedback

10.  Goal: 1.LabView 2009 SoftMotion: meets objectives? 2.Educate team for full-scale model 3.System architecture  Plan  Simplified SolidWorks model  Research & tutorials for LabView  Develop LabView control (single axis) o Functional Evaluation  Joint design, movement, controls scheme, feedback  Iterative (adding complexity)

11. SolidWorks Model 1 DOF Simulated Joint

13.  Issues / Risks: Scan Engine Period [5ms or 10 ms] / Deployment Virtual Controls Scheme differs from Physical Virtual Error = 0?

14.  Leaking air muscles  Excessive play due to rubber mount (not measurable for feedback because sensor is also moving)  Slop in finger joint  Pulleys breaking, and translating  Past teams poor documentation misguiding our repairs  USB 2.0 needed

15. Volt meter Modified Vision TrackingProtractor String IndicatorDial GaugeTemplates Revolution Measurement (pulley) Units of MeasureV in/mm/degdegreesin/mm Revolutions Type of Measurevoltage displacementangledisplacement modeldisplacement Accuracy++00++0 Repeatibilty++0+++0 Uncertainity0+0+0+- Cost++++0+0 Availability++++0++ Complexity-0--0-0 Total score3513240 Concepts generated for measurement of displacement Measurement of error was also considered

16.  System Level Design Review – 10/16/09  Detailed Design Review – 11/06/09 (3 weeks) ◦ Virtual Concept Selected ◦ Physical Prototype benchmarked ◦ Controls (Physical & Virtual) designed  Project Management Review – 11/20/09 (5 weeks) ◦ Controllable virtual system ◦ Controllable physical system ◦ Calibration Plan / DAT Plan

17.  Are our resources sufficient? ◦ Physical System ◦ Computer ◦ Software  Are we solving the right problem?