P09029: Robotic Hand Improvement
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Transcript of P09029: Robotic Hand Improvement
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Casey Dill (ME): Lead/MechanicsArthur Connors (EE): Control System
Andrew Torkelson (ISE): Test DevelopmentDr. Kathleen Lamkin-Kennard: Guide/Sponsor
P09029: Robotic Hand Improvement
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Customer Needs
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Engineering Specifications
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Electrical ConceptsLabVIEW
Control System DevelopmentOutputs to SolidWorks ModelOutputs to Physical Prototype
Control SystemMovement Accuracy – Position and SpeedFeedback Considerations – Accommodating for
DelayOutputs to Both SolidWorks and Prototype Using
Same VIComponent Familiarization
Relay Boards, Relays, and Data Acquisitioners (DAQs)
Concept Description and Rationale
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Control System Overview
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Control System Feedback Loop
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Concept Description and Rationale
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Concept Description and Rationale
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Concept Description and Rationale
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System Architecture
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Med-High Risk Assessment
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All software has been installed on a computerEli* from NI. His latest email indicates
academic license may be an issue. Limit at getting SolidWorks and Labview
working together set to 2 weeks, or switch to a different software package.
*Eli SeidnerApplications Engineer, National [email protected] | (512) 683-0971
Current State of Design
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Milestone ScheduleWeek Plan Contingency
1Start building test stand
Work on getting simulation workingIf simulation isn't working by Friday, look for alternatives
2Get simulation working If simulation isn't working by
Friday, use a different programMake a few air muscles
Buy controls stuff
3
Make a control system to test muscles
Test relaysIf parts haven't arrived, refine model
Run through demosIf a alternative simulation program is being used, attempt demo
4Make list of joints to test Complete test plan Work on simulation
5Demonstrate simulation with displacement If not done, work on simulationWorking air muscles for 1 joint Debug controls
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Milestone Schedule
6Get forces working for simulation (I) Characterize more air muscles (I)
7
Get forces working for simulation (II) Find math models Find how to apply math
8Develop math more Characterize more air muscles (II)
9Apply math model to simulation If model is too complicated, use a
simplerapproximation
10 Calibrate forces in simulation
11
Demonstrate working simulation of air muscles Show test stand Prove math model
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Primary DeliverablesComputer simulation of common joints.Prototype that demonstrate accuracy of the
simulation.Sub Deliverables
Week 2: A test stand.Week 3: A working simulation software.Week 5: A simulated joint without accurate
forces.Week 7: Simulated forces in simulation.Week 10: Working, accurate computer model.
Milestone Schedule
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For the next two weeks:Continue emailing and calling Eli S. (Casey and
A.J.)Design the test stand (Casey and Andrew)Create a preliminary control system for the test
stand (A.J.)
Milestone Schedule