Spring 2013 Marc DeAngelis Paul Hauris Katherine Leshkow Jennifer Moore.
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Transcript of Spring 2013 Marc DeAngelis Paul Hauris Katherine Leshkow Jennifer Moore.
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Ankle Positioning Device
Spring 2013
Marc DeAngelisPaul HaurisKatherine LeshkowJennifer Moore
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Complex Joint Full Range of Motion
Inversion/Eversion Plantar Flexion/Dorsiflexion Internal/External Rotaton
Background
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IntroductionBasic Goals
x-, y-, z-axes
Load applied
Horizontal, vertical
5DOF
Our Goals
Working Model
User-friendly
Cost Effective
Minimal Machining
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Pin• Layered• Framed
Plates• Gimbal
Pin
Designs
• 4DOF
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Framed Plate
Layered
• 3 DOF
• 3DOF
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• 4 DOF• Built upon
earlier ideas
Gimbal
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Basic Conceptual Design • Selected Design• 4 DOF
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Clamp Design (Tibia)
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Design Modifications• Joint Design• Motors• Load Cell
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Joint Design
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• Calculations• Torque Consideration• Weight Requirement• Final Selection
100 lbs
Design Modifications - Motor Selection
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Design Modifications - Load Cell• Function• Importance of Location
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• Necessary Change• Earlier Design’s Flaws
Design Flaws - Structural Support
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Design Flaws – Translational Flaw
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Control Algorithm
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Control Algorithm
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Servo without Filter
Servo with 2nd Order Butterworth Pass Filter
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Cost Analysis• Base Plates
• 24” x 24” 1” thick Al plate - $544.97• 18” x 18” 1” thick Al plate - $306.55
• Stabilizer Base
• 3/16” thick Al - $63.19
• Three Motors - $719.94
• Vertical Bearings - $92.88
• 6DOF Analog IMU - $72.50
• Arduino Uno - $29.95
• TOTAL ESTIMATED COST: $2,768
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Gantt