second semester design presentation review electrical/control system direct drive base motor...
TRANSCRIPT
Presentation Review
Electrical/Control System Direct Drive Base Motor Choices End effecter development and plan Review
Electrical / Control System User interface
RF control comes with receiver (analog input to microcontroller).
Gamepad USB. Ran into problems with slave – slave connection. Would have to add additional USB host hardware/ software.
Hardware changes Change from BasicStamp to Rabbit
microprocessor.○ Rabbit has interrupts, Pulse Width Modulation (PWM),
we are familiar with programming it. Motor controllers
○ Reuse motor minds where necessary○ Shoulder motor comes with new motor
Remove unused hardware○ Mini- ITX
Rebuild avionics box Software Tasks
Program Rabbit○ User input to Rabbit○ Rabbit to controllers○ Control algorithm
Direct Drive Base
Bearing
Mounting Frame Fastener
Motor Rotor
Mounting Frame
Motor Stator
Base Frame
Weight of Motors and Gearboxes
Previous Design
Base Rotation:- Motor: 2.6 lbs
Shoulder Joint: - Motor: 1.5 lbs- Gearbox: 14 lbs
Elbow Joint:- Motor: 1.5 lbs- Gearing: 0.5 lbs
Linear Actuator:- Motor: .2 lbs- Gearbox: 0.7 lbs
Total Weight: 21 lbs
New Design
Base Rotation: - Motor: 0.8 lbs- Housing: 0.5 lbs
Shoulder: 5.3 lbs
Elbow Joint: - Motor: 1.3 lbs- Gearbox: 0.5 lbs
Wrist Joint: - Motor: 0.6 lbs- Gearbox: 0.4 lbs
Percussive Poker:- Motor: 0.2 lbs- Gearbox: 0.4 lbs
Total Weight: 10 lbs
Percussive Poker Design Goals
Design and build a percussive poker prototypeFinish it within two weeks
Test GoalsDetermine motor torque and rpm necessaryOptimum poker stroke Test different tips tips
Design Choice
Sewing machine actionHigh bearing tolerances More moving partsLess torque than cam design
Cam action Simpler to machine and assembleLess moving partsSlightly more torque than sewing machine
Semester Goals Poker Design
Correct any major design flawsDesign much lighter caseChoose a suitable motor
Most/all of parts machined and assembled by March 7th
Rest of semester for testing and improvement
Arm design completed when final motor decision made
Senior Design Expo April 25th