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

Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

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Page 1: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

Remote Robot Arm ManipulationMechatronics Presentation

Imran Ahmed

Sookram Sobhan

Omar Ramos

Page 2: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

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

Page 3: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

Applications

• Hazardous Material• Security (moving remote cameras)• Medical Applications• Undersea / Space Exploration

Page 4: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

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: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

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: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

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: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

Robot Arm – Base

Page 8: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

Robot Arm - Joint

Page 9: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

Robot Arm – Gripper

Page 10: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

Motor Control

Page 11: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

Motor ControlBJT Full H-Bridge MOSFET Full H-Bridge

Page 12: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

Motor Control

Inverter

Page 13: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

Embedded Ethernet Controller

Page 14: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

Joystick

Page 15: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

C++ Code Sample – Checking Values

Page 16: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

C++ Code Sample - Packetize

Page 17: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

PBasic Code Sample – Reading Packets

Page 18: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

PBasic Code Sample – Checking Values and Pulsing Motors

Page 19: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

VBScript Code

Page 20: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

Block Layout

Page 21: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

Economic Analysis

20.00Power Supplies

100.00Web Camera

30.00Joystick

25.00Transistors

190.00BS2p40 Kit

75.00Embedded Ethernet Controller

Retail Price (USD)

Total Cost for Prototype: $440.00

Page 22: Sookram Sobhan Imran Ahmedengineering.nyu.edu/mechatronics/projects/ME3484/... · Imran Ahmed Sookram Sobhan Omar Ramos. Presentation Outline • Applications • Advantages • Project

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)