System Level Design Review
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Transcript of System Level Design Review
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System Level Design ReviewP10029: Control Enhancements for Air Muscle
Biomimetic Hand
October 16, 2009
Customer: Dr. Lamkin-KennardFaculty Guide: Ed Hanzlik
Zach Wessner, Jaci Tylkowski, Alex Bean Mark Wood, Tuan Tran, Kevin Mudrak
Team Members:
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P10029 is a continuation project◦ Physical system was built by P09023◦ Final design will be integrated into Dr. Lamkin-Kennard’s
pneumatically driven scalable robotic hand devices Controls system is the focus
◦ Maintenance and repair only of the physical system Virtual and Physical prototypes
◦ Virtual system modeled in SolidWorks and both controlled by LabView
Summary
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Customer Needs Kinematic model - SolidWorks/Cosmos Motion Builder
Closed loop feedback for both hand and model.
Drive model using the inputs from the mechanical hand.
Virtual and Physical models output displacements
Quantitative analysis comparing displacements of
mechanical hand to model.
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Voice of the Engineer Top 3 Metrics based on the HOQ
1. Functionality2. Accuracy3. Repeatability
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System Level Risks
Software computer Error Physical System0
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System Level ArchitectureInputs to LabView GUI-% of Travel-3 Space Location-System Selection (Physical/Virtual)-Coded Movements-Absolute/Relative Joint Position
Physical Programming Function-convert input into time to open/close valves-convert DAQ voltages into position outputs
Virtual Programming Function-convert GUI input into angular actuation for joints-convert sensor output to 3 Space Location
Physical System Architecture
Virtual System Architecture
LabView GUI
Inputs Outputs
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Originator: P09023 Date Created: 2008
Physical Architecture
2.5 to 10 VDC
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Originator: P09023 Date Created: 10-3-2008
Controls Architecture
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Virtual Architecture
SoftMotion Functions
Trajectory Generator
Communication Interface
(Scan Engine)
Motion Simulation
NI LabView 2009 w/ SoftMotion SolidWorks 2009 Premium
User Input: [LabView Front Panel]
Coordinate Move Single Axis Move
User Input: [SolidWorks Assembly]
Motion Analysis
System Output: [SolidWorks Assembly]
Visual Motion of Assembly
System Output: [LabView Front Panel]
Displacement Feedback
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Virtual Proof of Concept Goal:
1. LabView 2009 SoftMotion: meets objectives?2. Educate team for full-scale model3. System architecture
Plan Simplified SolidWorks model Research & tutorials for LabView Develop LabView control (single axis)o Functional Evaluation
Joint design, movement, controls scheme, feedback Iterative (adding complexity)
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Virtual Proof of ConceptSolidWorks Model
1 DOFSimulated Joint
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Virtual Proof of Concept
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Virtual Proof of Concept Issues / Risks:• Scan Engine Period [5ms or 10 ms] / Deployment• Virtual Controls Scheme differs from Physical• Virtual Error = 0?
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Leaking air muscles Excessive play due to rubber mount (not measurable for
feedback because sensor is also moving) Slop in finger joint Pulleys breaking, and translating Past teams poor documentation misguiding our repairs USB 2.0 needed
Physical System Risks/Issues
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Evaluation Method Volt meter
Modified Vision
Tracking ProtractorString
Indicator Dial Gauge Templates
Revolution Measurement
(pulley)Units of Measure V in/mm/deg degrees in/mm in/mm RevolutionsType of Measure voltage displacement angle displacement displacement model displacement
Accuracy + + 0 0 + + 0Repeatibilty + + 0 + + + 0Uncertainity 0 + 0 + 0 + -
Cost + + + + 0 + 0Availability + + + + 0 + +Complexity - 0 - - 0 - 0Total score 3 5 1 3 2 4 0
•Concepts generated for measurement of displacement•Measurement of error was also considered
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Critical Dates System Level Design Review – 10/16/09 Detailed Design Review – 11/06/09 (3 weeks)
◦ Virtual Concept Selected◦ Physical Prototype benchmarked◦ Controls (Physical & Virtual) designed
Project Management Review – 11/20/09 (5 weeks)◦ Controllable virtual system◦ Controllable physical system◦ Calibration Plan / DAT Plan
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Are our resources sufficient?◦ Physical System◦ Computer◦ Software
Are we solving the right problem?
Decisions/Action Items