robotic arm project

EE/CS 481 Spring 2008

Founder’s Day, 2008 1University of Portland School of Engineering

Robotic Arm Project

AuthorsCorban Monger

Josh Triska

Ashlee Snodgrass

AdvisorDr. Lu, Dr. Chamberlain

Industry RepresentativeMr. Kosloski



Agenda

• Introduction Ashlee Snodgrass

• Background Ashlee Snodgrass

• Methods Corban Monger

• Results Josh Triska

• Conclusions Ashlee Snodgrass

• Demonstration Team



Introduction

Project:

• To create a human shaped hand and arm assembly for Dr. Lu

Purpose:

• To have a arm that Dr. Lu can use for research in Humanoid Mobile Robotics



Background

Our project focus = dexterity vs. strength and large movements

• Neat Details– Arm and hand allow fine movements– Ability to do American Sign Language (ASL)– Interesting integration of different disciplines



Methods• Steps for Project

– Planning• Brainstorming, Identifying need,

acquiring resources– Design Disciplines Involved

• Mechanical Engineering• Electrical Engineering• Firmware Programming



Methods

• Steps for Project Cont.– Gathering Materials and Resources– Manufacture and Programming

• Fabrication and Implementation– Metalworking Lathe and Milling Machine

– Printed Circuit Board Fabricated Offshore

– Hand and Arm Assembly• Bringing it all together!



Methods Cont.• Major Challenges

– Manufacturing Time Vs. Available Time

– Complexity– Lack of Discipline Specific

Experience– Making Own Tools– Tool Breakage



Methods Cont.

• Technical Sequence– Separated project by discipline sections– Consulted professors and experts in various

fields– Looked at documentation – Checked forum websites– Focused on modular design for easy

reparability



Results

• Three Main Subsections– Mechanical Engineering– Electrical Engineering– Firmware and Microcontrollers



Results Cont.

• Mechanical Engineering– Analysis, Simulation, and Design

Modular Design of Wrist, Forearm and Elbow

– Material Selection and Analysis• Focus on light-weight materials

– Machining• Producing the arm mechanical structure



Mechanical Design



Electrical Results

• Electrical Engineering– Servo Controller Board– Host Controller Board– Motor Controller Board– Board Manufacture



Servo Control



Results Cont.

• Firmware and Microcontroller Programming– Firmware and Network Protocols– Algorithm Development– User Interface Development– FAT8 File System Development



Results



Conclusions

• Robotic arm for humanoid mobile robotics• Project extent was from wrist to elbow• Successful design and implementation• Mechanical and Electrical Emphasis = Robust,

manufacturable and repairable• Modular design



Future Development

• Development of shoulder joint

• Research further reduction of weight

• Placing outer skin on arm



Demonstration

Demonstration will cover the hand signing 0-9 in ASL.



Thank You.

Are there any questions?

robotic arm project

Documents