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Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

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Page 1: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Remote Robot Arm ManipulationMechatronics Presentation

Imran Ahmed

Sookram Sobhan

Omar Ramos

Page 2: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Presentation Outline

• Applications• Advantages• Project Specifications• Hardware• Software • Block Layout• Economic Analysis• Conclusion

Page 3: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Applications

• Hazardous Material

• Security (moving remote cameras)

• Medical Applications

• Undersea / Space Exploration

Page 4: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Advantages

• Works on any Local Area Network

• Can be extended globally across the internet

• Can be extended to wireless (802.11)

• Can be controlled by anyone with a PC or with a joystick and small program

Page 5: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Project Specifications

• Microcontroller– BS2p40– 32 I/O pins

• Embedded Ethernet Controller– 10baseT Ethernet connection (10Mb)– 16 pins

• User Interface– USB Joystick– Graphical Display of Joystick Values (C++ MFC

program)– Web-based control using VBScript and Web cam

Page 6: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Project Specifications continued

• Robot Arm– Three Degrees of Freedom– DC Motors– Constructed using LEGO Mindstorms components

• Motor Control– Full H-Bridges Constructed using MOSFETs and

BJTs– Inverter Circuits– Diodes for protection against inductive kickback

Page 7: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Robot Arm – Base

Page 8: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Robot Arm - Joint

Page 9: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Robot Arm – Gripper

Page 10: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Motor Control

Page 11: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Motor ControlBJT Full H-Bridge MOSFET Full H-Bridge

Page 12: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Motor Control

Inverter

Page 13: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Embedded Ethernet Controller

Page 14: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Joystick

Page 15: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

C++ Code Sample – Checking Values

Page 16: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

C++ Code Sample - Packetize

Page 17: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

PBasic Code Sample – Reading Packets

Page 18: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

PBasic Code Sample – Checking Values and Pulsing Motors

Page 19: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

VBScript Code

Page 20: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Block Layout

Page 21: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Economic Analysis

Retail Price (USD)Embedded Ethernet Controller

75.00

BS2p40 Kit 190.00Transistors 25.00Joystick 30.00Power Supplies 20.00Web Camera 100.00

Total Cost for Prototype: $440.00

Page 22: Remote Robot Arm Manipulation Mechatronics Presentation Imran Ahmed Sookram Sobhan Omar Ramos

Conclusion

• Prototype was successful

• Improvements- Feedback on Gripper

- Pulse Width Modulation on Motors

- 555 Timers (move in more than one direction at the same time)