1. 20111901 한일환 20091804 김병찬 20091798 김건식 20071223 전우준 20081838 정준영 Capstone Design

2. Flow chart Sep 3rd Sep 4th Oct 1st Oct 2nd Oct 3rd Oct 4th Oct 5th Nov 1st Nov 2nd Nov 3rd Nov 4th Dec 1st Dec 2nd Dec 3rd Assembly MIDTERMMIDTERM 2D Program ming Vision Program ming Spring- Back Exp. Verificatio n Exp. 3D Program ming Torsion Program ming Final Product

3. Index 1. Purpose of design 2. Check necessary parts 3. Show design

4. Purpose -Make 2D shape available -Specific design of actuator

5. Needed components Prepared components - Processor (SbRIO 9601) -3 Motors (step motor) -Ball screw drive Parts Unprepared components -3 Motor drivers -Power supply -Aluminum structure -Others

6. Parts 9601 SbRIO -National Instruments -266MHz processor -128MB storage, 64MB DRAM -2M gate I/O FPGA -Ethernet port -110 DIO

7. Parts 3 step motors -2 phases, 1.8deg/step -3.2V, 2.8A -1.85N*m holding torque -Linear motion & Roll Angle * 2EA * 1EA -5 phases, 0.072deg/phase -3.64V, 1.4A -20N*m holding torque -1:10 gear ratio -Bending

8. Parts * 2EA -NT-BST2403 -2 phases, PWM -Input voltage : DC 12~30V -Output ampere : 0~2.5A -Linear motion & Roll Angle Ball screw drive -Realize linear motion by rotary step motor. -MD5-HF28 -5 phases -Input voltage : AC 110~220V -Output ampere : 0~5A -Bending 3 motor drivers

9. Unprepared Parts Power supply -UP200S12L -200W 1-Channel -Input : AC 90~132V -Output 1 : DC 12V/16.7A -Output 2 : AC 180~264V

10. Unprepared Parts Aluminum structures Etc. -Use aluminum profile to make structure. -Other simple components.

11. Past Linear motion Roll angle Bending Wire

12. Present Front view Plan view

13. Present

14. Q&A