Robotic Arm Project

EE/CS 481 Spring 2008

Founder’s Day, 2008 1University of Portland School of Engineering

Robotic Arm Project

AuthorsCorban Monger

Josh Triska

Ashlee Snodgrass

AdvisorDr. Lu, Dr. Chamberlain

Industry RepresentativeMr. Kosloski

EE/CS 481 Spring 2008

Founder’s Day, 2008 2University of Portland School of Engineering

Agenda

• Introduction Ashlee Snodgrass

• Background Ashlee Snodgrass

• Methods Corban Monger

• Results Josh Triska

• Conclusions Ashlee Snodgrass

• Demonstration Team

EE/CS 481 Spring 2008

Founder’s Day, 2008 3University of Portland School of Engineering

Introduction

Project:

• To create a human shaped hand and arm assembly for Dr. Lu

Purpose:

• To have a arm that Dr. Lu can use for research in Humanoid Mobile Robotics

EE/CS 481 Spring 2008

Founder’s Day, 2008 4University of Portland School of Engineering

Background

Our project focus = dexterity vs. strength and large movements

• Neat Details– Arm and hand allow fine movements– Ability to do American Sign Language (ASL)– Interesting integration of different disciplines

EE/CS 481 Spring 2008

Founder’s Day, 2008 5University of Portland School of Engineering

Methods• Steps for Project

– Planning• Brainstorming, Identifying need,

acquiring resources– Design Disciplines Involved

• Mechanical Engineering• Electrical Engineering• Firmware Programming

EE/CS 481 Spring 2008

Founder’s Day, 2008 6University of Portland School of Engineering

Methods

• Steps for Project Cont.– Gathering Materials and Resources– Manufacture and Programming

• Fabrication and Implementation– Metalworking Lathe and Milling Machine

– Printed Circuit Board Fabricated Offshore

– Hand and Arm Assembly• Bringing it all together!

EE/CS 481 Spring 2008

Founder’s Day, 2008 7University of Portland School of Engineering

Methods Cont.• Major Challenges

– Manufacturing Time Vs. Available Time

– Complexity– Lack of Discipline Specific

Experience– Making Own Tools– Tool Breakage

EE/CS 481 Spring 2008

Founder’s Day, 2008 8University of Portland School of Engineering

Methods Cont.

• Technical Sequence– Separated project by discipline sections– Consulted professors and experts in various

fields– Looked at documentation – Checked forum websites– Focused on modular design for easy

reparability

EE/CS 481 Spring 2008

Founder’s Day, 2008 9University of Portland School of Engineering

Results

• Three Main Subsections– Mechanical Engineering– Electrical Engineering– Firmware and Microcontrollers

EE/CS 481 Spring 2008

Founder’s Day, 2008 10University of Portland School of Engineering

Results Cont.

• Mechanical Engineering– Analysis, Simulation, and Design

Modular Design of Wrist, Forearm and Elbow

– Material Selection and Analysis• Focus on light-weight materials

– Machining• Producing the arm mechanical structure

EE/CS 481 Spring 2008

Founder’s Day, 2008 11University of Portland School of Engineering

Mechanical Design

EE/CS 481 Spring 2008

Founder’s Day, 2008 12University of Portland School of Engineering

Electrical Results

• Electrical Engineering– Servo Controller Board– Host Controller Board– Motor Controller Board– Board Manufacture

EE/CS 481 Spring 2008

Founder’s Day, 2008 13University of Portland School of Engineering

Servo Control

EE/CS 481 Spring 2008

Founder’s Day, 2008 14University of Portland School of Engineering

Results Cont.

• Firmware and Microcontroller Programming– Firmware and Network Protocols– Algorithm Development– User Interface Development– FAT8 File System Development

EE/CS 481 Spring 2008

Founder’s Day, 2008 15University of Portland School of Engineering

Results

EE/CS 481 Spring 2008

Founder’s Day, 2008 16University of Portland School of Engineering

Conclusions

• Robotic arm for humanoid mobile robotics• Project extent was from wrist to elbow• Successful design and implementation• Mechanical and Electrical Emphasis = Robust,

manufacturable and repairable• Modular design

EE/CS 481 Spring 2008

Founder’s Day, 2008 17University of Portland School of Engineering

Future Development

• Development of shoulder joint

• Research further reduction of weight

• Placing outer skin on arm

EE/CS 481 Spring 2008

Founder’s Day, 2008 18University of Portland School of Engineering

Demonstration

Demonstration will cover the hand signing 0-9 in ASL.

EE/CS 481 Spring 2008

Founder’s Day, 2008 19University of Portland School of Engineering

Thank You.

Are there any questions?