Download presentation
Presentation is loading. Please wait.
Published byBartholomew Nathaniel Preston Modified over 9 years ago
2
Second Semester Design
3
Presentation Review Electrical/Control System Direct Drive Base Motor Choices End effecter development and plan Review
4
Electrical / Control System User interface RF control comes with receiver (analog input to microcontroller). Gamepad USB. Ran into problems with slave – slave connection. Would have to add additional USB host hardware/ software. Hardware changes Change from BasicStamp to Rabbit microprocessor. ○ Rabbit has interrupts, Pulse Width Modulation (PWM), we are familiar with programming it. Motor controllers ○ Reuse motor minds where necessary ○ Shoulder motor comes with new motor Remove unused hardware ○ Mini- ITX Rebuild avionics box Software Tasks Program Rabbit ○ User input to Rabbit ○ Rabbit to controllers ○ Control algorithm
5
Direct Drive Base Bearing Mounting Frame Fastener Motor Rotor Mounting Frame Motor Stator Base Frame
6
Weight of Motors and Gearboxes Previous Design Base Rotation: - Motor: 2.6 lbs Shoulder Joint: - Motor: 1.5 lbs - Gearbox: 14 lbs Elbow Joint: - Motor: 1.5 lbs - Gearing: 0.5 lbs Linear Actuator: - Motor:.2 lbs - Gearbox: 0.7 lbs Total Weight: 21 lbs New Design Base Rotation: - Motor: 0.8 lbs - Housing: 0.5 lbs Shoulder: 5.3 lbs Elbow Joint: - Motor: 1.3 lbs - Gearbox: 0.5 lbs Wrist Joint: - Motor: 0.6 lbs - Gearbox: 0.4 lbs Percussive Poker: - Motor: 0.2 lbs - Gearbox: 0.4 lbs Total Weight: 10 lbs
7
Percussive Poker Design Goals Design and build a percussive poker prototype Finish it within two weeks Test Goals Determine motor torque and rpm necessary Optimum poker stroke Test different tips tips
8
Design options #1 Sewing machine drive
9
Design options #2 Cam drive
10
Design Choice Sewing machine action High bearing tolerances More moving parts Less torque than cam design Cam action Simpler to machine and assemble Less moving parts Slightly more torque than sewing machine
11
Semester Goals Poker Design Correct any major design flaws Design much lighter case Choose a suitable motor Most/all of parts machined and assembled by March 7 th Rest of semester for testing and improvement Arm design completed when final motor decision made Senior Design Expo April 25th
12
Gantt Chart
Similar presentations
© 2025 SlidePlayer.com. Inc.
All rights reserved.