1. Robotic Arm and Dexterous Hand Preliminary Design Review November 12, 2004

2. The Team David Parrett Wen Jia Wang Ken Peters Justin Tubiolo Jeremy Amidon

3. Overview Needs and Objectives Background, project goals Requirements and Specifications Concept Development User Control Arm Types Mechanical Power Sources Electronic Control System Feasibility Assessment Future Plans Schedule and Budget

4. Project Proposals Robotic Arm & Dexterous Hand Robotic Squirt Gun & Targets Remote Racing Track Robotic Arm Wrestling Remote Soccer Players Robotic Basketball Shooter Labyrinth Type Interactive Maze

5. Robotic Arm Background Robots are often used to: Perform precise movements Move large or heavy objects Work in hazardous areas This robotic display could: Pick up a Basketball and place in basket Lift blocks for building Simulate human finger movement

6. Project Needs & Objectives Maximum exhibit life span and durability. Intuitive navigation and operation by users. Robotics theme an exceptionally inviting "attractor factor." Accessibility to many users of different age and physical ability. Provide maintenance information and details. The robotics exhibit becomes an extension of the human arm. Test the display in its target environment to ensure success.

7. Concept Development Controls Arm Types Source of Power Electrical System

8. Concept Block Diagram Glove Controller Personal Computer Microcontroller Extension Cylinder Rotational Motor Limiting Sensor Air Valves Air MuscleTable Touch Sensor Movement Cables Air Pressure Supply Wrist Joint Elbow Joint Finger Joints

9. Controls Concepts Sensor Laced Glove & Fighter Joystick Utilize Flex Sensors in the Glove Joystick to Control Arm Movements Courtesy of http://devices.sapp.org/component/flex/http://devices.sapp.org/component/flex/ Courtesy of www.radioshack.comwww.radioshack.com

10. Controls Concepts Sensor Glove with Motion Track Glove has Flex Sensors in the Fingers Infrared Receptor Senses Motion in 6 Degrees

11. P5 Data Glove Courtesy of Essential Reality

12. Arm Concepts Arm With Wrist, Elbow & Shoulder Joints 6 Degrees of Freedom Most Similar to Human Arm Arm With Wrist, Elbow & Rotating Cylinder 4 Degrees of Freedom Maximum Reach

13. Power Source Concepts Pneumatics Utilize air muscles Power-to-Weight Ratio up to 400:1 Apply Forces up to 140 lbs. Very Flexible Photo courtesy of Shadow Robot Company

14. Power Source Concepts Electric Motors Utilize Servo or Stepper Motors Large Range of Sizes and Torques Easy to Control Motion Photo courtesy of www.towerhobbies.com Photo courtesy of www.myhurst.com

15. Project Feasibility Dexterous Hand Is the Baseline Project 1 = much worse than baseline concept 2 = worse than baseline 3 = same as baseline 4 = better than baseline 5= much better than baseline Dexterous Hand Labyrinth Basketball Shooter Arm Wrestling Robotic Soccer Robotic Squirter Race Track Relative Weight Sufficient Student Skills? 3.0323233 21% Sufficient Financial Resources? 3.0323333 14% Sufficient Time to Complete? 3.0412332 14% Cost of Materials? 3.0423322 7% Has "Attractor Factor" 3.0143222 24% Interactive For Guests? 3.0232333 10% Does Not Require Much Instruction? 3.0422132 7% Promotes Scientific Learning? 3.0221111 3% Weighted Score 3.02.72.42.62.32.62.4 Normalized Score 100.0%89.3%82.1%89.3%79.8%89.3%82.1%

16. Controller Feasibility Wrist, Elbow & Rotating Cylinder is the Baseline 1 = much worse than baseline concept 2 = worse than baseline 3 = same as baseline 4 = better than baseline 5= much better than baseline Glove & Joystick Glove Alone Relative Weight Sufficient Team Skills? 3.02 21% Sufficient Financial Resources? 3.05 14% Sufficient Time to Complete? 3.03 14% Cost of Materials? 3.05 7% Has "Attractor Factor" 3.04 24% Interactive For Guests? 3.03 10% Does Not Require Much Instruction? 3.04 7% Promotes Scientific Learning? 3.04 3% Weighted Score 3.03.6 Normalized Score 84.5%100.0%

17. Arm Feasibility Wrist, Elbow & Rotating Cylinder is the Baseline 1 = much worse than baseline concept 2 = worse than baseline 3 = same as baseline 4 = better than baseline 5= much better than baseline Wrist Elbow & Rotating Cylinder Wrist Elbow & Shoulder Relative Weight Sufficient Team Skills? 3.02 21% Sufficient Financial Resources? 3.02 14% Sufficient Time to Complete? 3.02 14% Cost of Materials? 3.01 7% Has "Attractor Factor" 3.03 24% Interactive For Guests? 3.03 10% Does Not Require Much Instruction? 3.03 7% Promotes Scientific Learning? 3.02 3% Weighted Score 3.02.3 Normalized Score 100.0%78.2%

18. Electrical Control Feasibility PC and output board is the Baseline 1 = much worse than baseline concept 2 = worse than baseline 3 = same as baseline 4 = better than baseline 5= much better than baseline Microcontroller and PC Microcontroller Alone PC with Output board Relative Weight Sufficient Team Skills? 3.01 3 21% Sufficient Time to Complete? 3.013 14% Cost of Materials? 3.042 7% Complexity in Programming? 3.013 24% Reliable Communication? 3.021 10% Easy to Maintain? 3.043 7% Replaceable Parts?3.031 14% Processing Speed? 3.042 3% Weighted Score 3.0 2.5 2.3 Normalized Score 100.0% 83.3% 76.6%

19. Design Images

20. Finger Tip

21. Finger Joint

22. Hand

23. Robotic Arm

24. Display Case

26. Electrical Input/Output Inputs to PC USB signal from glove controller Output from PC RS-232 serial output to MDB Inputs to MDB Magnetic field sensors from arm joints Touch sensor to detect when the hand touches the display table Output from MDB Digital signal to each valve to control pressure in air muscle Extension cylinder motor control lines

27. Control Concept Arm Motion Control When the glove is moving, then the arm moves in the same direction controlled by these signals from the glove:  ‘x’ Axis controls rotional motor  ‘y’ Axis controls elbow motion  ‘z’ Axis controls extension cylinder  ‘pitch’ Axis controls the wrist motion Finger Motion Control Motion control theory for the fingers is same as for the arm Each robotic finger is controlled by each finger sensor on the glove

28. Timeline

29. Cost Worksheet

30. Questions?