Preliminary Design Review

Transcription

1 Preliminary Design Review S.H.A.R.C. Simulated Hand and Arm Remote Control Team 6 Connor Pope, Daniel Sheridan, Derek Caudill, Harrison Shecter October 22, 2015 Department of Electrical and Computer Engineering Advisor: Professor Bardin 1 UMass. Proprietary

2 Project Description Our SDP team is going to design and build a system that controls a robotic arm wirelessly using wearable sensors. The robot arm is an open-source 3D printed design in order to focus our efforts on designing and building the controller UMass. Proprietary 2 2 C.P.

3 The Arm InMoov Robot Project Open source Directions on how to assemble the arm are provided All parts and 3D models are given UMass. Proprietary 3 3 C.P.

4 Significance and Societal Impacts Bomb Defusal Animatronic control -> Better accuracy + more intuitive control = Safer and more efficient defusal Medical Surgeries Animatronic control maps to surgeon muscle memory Scaled robotics leads to scaled surgeries Quality of Life Robot arm + drone = Reaching the unreachable Manufacturing 100 Robot arms + 1 glove/sleeve Defense Non-autonomous and unmanned weapons UMass. Proprietary 4 4 C.P.

5 Alternatives Approaches Joystick Controller Electrode Based System Visual Tracking Advantages - Simplest design - Inexpensive to produce - Allows control of limbs that aren t necessarily there (i.e. for use in prosthetics) - Precise optical mapping from user s image Disadvantages - Lacks intuitive control - High learning curve - Requires background in bio - Expensive - Noise from small signals - Design requires high resolution optical sensors - Very CPU intensive UMass. Proprietary 5 5 H.S.

6 Requirements - Specifications Five degrees of freedom for arm movement Individual finger control Wireless communication between sensor glove/sleeve and robot arm Maximum latency of 500 ms Sensor glove/sleeve can be used by multiple users UMass. Proprietary 6 6 D.C.

7 Requirements Input/Output Inputs Accelerometer force data Gyroscope orientation data Flex sensor data Feedback sensor data Outputs Servo angle/rotation Independent for each servo Capture motion recording library UMass. Proprietary 7 7 D.C.

8 High Level Block Diagram UMass. Proprietary 8 8 D.S.

9 Distribution of Responsibilities Connor Derek Harrison Dan - R Pi Robot Arm programming - Use sensor data to compute arm movements - 3D Printing of parts and assembly of 3D printed parts - Sensor selection and placement on sleeve - Sleeve/glove assembly - Flex sensor bias network - Calibrating and testing servos - Sensor selection and placement for feedback - Power supply - Assembly of 3D printed parts - R Pi Sleeve Programming - Receive data from Sleeve - Transmit data to robot arm - Communication architecture for Raspberry Pis UMass. Proprietary 9 9 D.S.

10 Sensor Glove + Sleeve - Derek UMass. Proprietary D.C.

11 Sensor Glove + Sleeve - Derek Gyroscope and Accelerometer on one chip Signal amplification and filtering Digital output UMass. Proprietary D.C.

12 Sensor Glove + Sleeve - Derek Flex sensor Variable resistance based of bend of strip Voltage divider with flex sensor to measure finger movement UMass. Proprietary D.C.

13 Sleeve R Pi - Dan UMass. Proprietary D.S.

14 Sleeve R Pi - Dan Chosen WiFi Adapter is the Edimax EW-7811Un Supports n Cheap Compatible with R Pi UMass. Proprietary D.S.

15 Robot Arm R Pi - Connor UMass. Proprietary C.P.

16 Robot Arm - Harrison UMass. Proprietary H.S.

17 Robot Arm - Harrison Servo models provided by instructions for InMoov robot arm HS-808BB for arm MG996r for fingers UMass. Proprietary H.S.

18 MDR Deliverables Functioning ad-hoc Wi-Fi communication between Raspberry Pi s (Dan) Sensor glove complete and sending signals to Raspberry Pi (Derek) Raspberry Pi on robot arm sending control signals to finger servos (Connor) Servo power supply for fingers and assembly servo calibration (Harrison) 3D printed and assembled robot hand/arm (All) UMass. Proprietary D.S.