casey dill – team lead arthur connors andrew torkelsonedge.rit.edu/content/p09029/public/poster...
TRANSCRIPT
Casey Dill – Team LeadArthur Connors
Andrew Torkelson
Introduction
� Fourth project in artificial limb track� First three projects focused on hand
DOF
Project Goals
� To create a computer simulation of the kinematics of an air muscle-controlled human joint (the elbow)
� Build a prototype joint to compare to and improve the computer model
� Make end product adaptable and useful for future � Make end product adaptable and useful for future iterations
Customer Needs
Engineering Specs
Team Roles
� Casey� Math Theory� Pneumatics� Arm Design� Arm
� Arthur� Controls
System� Electronics� Simulation
� Andrew• Test Stand
Design• Test Stand
Fabrication� Arm
Fabrication� EDGE
� Simulation� Integration
Fabrication• Testing• Data Analysis
System Architecture
System Architecure
Physical Prototype
ComponentsAir Muscle
Artificial Limb
Test Stand Relays
Elbow joint moved by
pneumatic actuators
Holds arm and sensors
in place Provide power to
Pressure Gauge
w/ Flow Restrictor
Measures and/or slows
airflow
Solenoid Vacuum
Pump
Air Tank
Strain Gauge
in place
Controls airflowSucks air out of
muscles
Provide power to
and control
solenoid
2 count: one holds
pressurized air, one
is vacuumed
Produces voltage
change with
displacement
Math Model
( ) ( )t
t
e σ
0muscle
TankTank0muscle
28.PP
:Hold
PPPP
:Fill
−=
+−=
Calculating Air Pressure1) LabView first calculates what
air pressure should be in the air muscle given the amount of time that has passed.
2) LabView calculates the force the air muscles should be exerting based on the
( )te σ0muscle
0muscle
PP
:Drain
=
( )
−
−+−= 2muscle
2muscle2
sin
1sin2P1cos3
4
Pkk tDt
DF
θθπθπ
Apply Calculation of Force Out of McKibben Air Muscles*
*”Measurement and Modeling of McKibben Pneumatic Artificial Muscles” by Ching-Ping Chou and Blake Hannaford
exerting based on the pressure in the air muscle given a few characteristics of the air muscle.
Testing
� Components� Pressure Tests� Elastic Cord/Strain Gauge
Components
� Air muscles – contract the way they should
� Relays and Solenoid – Power works� Vacuum Pump – Failed to power up; � Vacuum Pump – Failed to power up;
worked after rewiring
Pressure Tests
� Muscles filled with air at different increments (0.05, 0.125, 0.25 seconds)
� Data fitted to function
Test Data
60
70
80
90
Test Results
-10
0
10
20
30
40
50
0 0.5 1 1.5 2 2.5 3 3.5
Pre
ssu
re
Time
Test 1Test 2Test 3Test 1
Fitted Curve
60.0
70.0
80.0
90.0
Case Fill
Fitted
Theory
0.0
10.0
20.0
30.0
40.0
50.0
60.0
0.00 0.50 1.00 1.50 2.00 2.50 3.00
Pre
ssu
re (
psi
)
Time (sec)
Elastic Cord/Strain Gauge
� 6 strings, different sizes� Weights 50g-2kg added� Displacement measured� Linear Regression to find k
� Cord tied onto gauge� Cord displaced set amounts,
voltage measured� LRA to find Constant
Scatterplot of % Deformation vs Weight (lbs)
0.12150
Scatterplot of Voltage vs Force
Elastic Cordk≈0.212 lbs/in
Strain GaugeConstant≈2347 lbs/Volt
543210
1.0
0.8
0.6
0.4
0.2
0.0
Weight (lbs)
% Deformation
2.52.01.51.00.5
0.12150
0.12125
0.12100
0.12075
0.12050
Force
Voltage
Simulation
Communication is Key!!!
� Mechatronics Toolkit is a linking tool between LabVIEW and COSMOS Motion
� Each program receives, translates, and � Each program receives, translates, and passes data to the next program
Lessons Learned
•Using a single 3-position, 5-way solenoid is cheaper than four 2-way, 2-position solenoids, and takes half of the relays.
•Find local suppliers:•Find local suppliers:•Roessel has many pneumatic parts on hand.•Cross Bros has sprockets and chain on hand.
•Don’t rely on non-team members for mission critical parts.
•Start programming earlier.
Future Work/Recommendations
� Expanding to the shoulder� Refining and generalizing models� Scaling� Don’t reinvent the wheel� Don’t reinvent the wheel� Rely on past BOMs� Use updated version of SolidWorks