1. P09029 – Robotic Hand Improvement Casey Dill(ME), A.J. Connors(EE), Andrew Torkelson(ISE) Faculty Guide – Dr. Kathleen Lamkin-Kennard February 12, 2009

11. Revision 4 RiskLevelStatus/Contingency No air muscles can meet specsHighAir muscles can be purchased from www.shadowrobot.com Previous generation's design for air muscles cannot be scaled up properlyMed Purchase commercial air muscles, which have been shown to reach larger sizes Air muscles cannot provide enough displacementMed change placement of muscles off of arm) or use a different method of motions (i.e. stepper motor) Air muscles break/fail/rupture/explode during useHighhave backup / make more Arm cannot support own weight HighUse larger/more air muscles. Arm cannot support additional loadsMedUse larger/more air muscles. Insufficient movement (range of motion) MedCAD model shows that the range can be achieved Cannot achieve a degree of freedom (i.e. wrist rotation)LowCAD model shows that the range can be achieved Model cannot render at pace with control system Med- HighComputers in the labs have been fast enough to render moving models Control system cannot achieve specified accuracyMed Control system cannot interface with SolidWorksHighCreate an ad-hoc interface (via SolidWorks macros or other means) Control system cannot interface with prototypeMed

15. 7 DOF (wrist, forearm, elbow, shoulder) Ranges of motion are near that of human Uses air muscles; can lift about 58 lbs. Meant for therapy, not independent motion

16. Provides 145° elbow flexion, 80-90° supination, and 50-80° pronation Turns arm with “chopstick action” *Also features -5 elbow extension

17. Features elbow w/ 280° of bend, and wrist w/ 360° of twist + 300° of bend Weighs 30 lbs. and lifts 3 lbs. 0.5 m/s movement speed Also an iterated project

18. http://www.shadowrobot.com/hand/techspec.shtml http://zone.ni.com/devzone/cda/tut/p/id/6183 http://www.robotcub.org/misc/papers/07_Tsagarakis _Caldwell.pdf http://ieeexplore.ieee.org/ielx5/4279972/4279973/0 4280069.pdf?tp= www.engineering.wright.edu/~jmenart/sdesign/12- 8-00_Presentation-final.ppt

19. Short video of the mechatronics toolkit in use http://www.ni.com/niweek/2008/keynote/simulation_w ith_solid_works_and_motion.htm

20. Second Video

21. Cosmos Motion and Labview

24. Special Considerations Materials needed will vary depending on what’s left over from P08023 Similar parts and materials will be used form P08023 for constancy between the iterations and because they have been tried and tested Exact budget details are still not known

25. PartCostUnitQtyTotalManufacturerWebsiteNotes Electrical Systems PC $ 1,000.00each0 $ -McMasterwww.mcmaster.comProvided USB Cables $ 5.00each1 $ 5.00McMasterwww.mcmaster.com DAQ $ 60.00each0 $ -McMasterwww.mcmaster.comProvided Relay Board $ 100.00each1 $ 100.00McMasterwww.mcmaster.com Relays $ 5.00each8 $ 40.00McMasterwww.mcmaster.com Slide Potentiometers each0 $ -McMasterwww.mcmaster.com Rotary Potentiometers $ 10.00each4 $ 40.00McMasterwww.mcmaster.com Wire $ 5.00100ft.1 $ 5.00McMasterwww.mcmaster.com Transformers $ 25.00each1 $ 25.00McMasterwww.mcmaster.com Solenoids $ 20.00each8 $ 160.00McMasterwww.mcmaster.com Mechanical Systems Aluminum Block $ 38.46per foot1 $ 38.46Online Metalswww.onlinemetals.com2"x3" bar Pneumatic Tubing ?? http://www.wirecare.com Pneumatic Fittings ?? http://www.mcmaster.com Manifold $ 17.00each1 $ 17.00Roesselhttp://www.roessel.com/ Air Tanks 2?? Various Nuts & Bolts $ 25.00McMasterwww.mcmaster.com Bearings $ 7.83each2 $ 15.66McMasterwww.mcmaster.com Flow Control Valves$3each8$24Global Spec http://www.globalspec.com Total471.12