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:

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

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.

Voice of the Engineer Top 3 Metrics based on the HOQ

1. Functionality2. Accuracy3. Repeatability

System Level Risks

Software computer Error Physical System0

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Rela

tive

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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

Originator: P09023 Date Created: 2008

Physical Architecture

2.5 to 10 VDC

Originator: P09023 Date Created: 10-3-2008

Controls Architecture

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

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)

Virtual Proof of ConceptSolidWorks Model

1 DOFSimulated Joint

Virtual Proof of Concept

Virtual Proof of Concept Issues / Risks:• Scan Engine Period [5ms or 10 ms] / Deployment• Virtual Controls Scheme differs from Physical• Virtual Error = 0?

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

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

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

Are our resources sufficient?◦ Physical System◦ Computer◦ Software

Are we solving the right problem?

Decisions/Action Items