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Autonomous Robotic Manipulator
Team ARM - University of Massachusetts Lowell
Philip Colangelo, ZiChang Ruan, Allen Antony
Outline
The Problem
The Solution Our Goal Design
Current Progress
Key Features
Performance Measures
Timeline/Budget
Next Steps
Problem
Our focus
People who rely on a feeding staff
In home, school, hospital, etc.
NeedInhibiting situationsIllness, cognitive challenges, paralysis, gross motor control, etc.
785 million people have a physical and or mental disability [1].
Outline
The Problem
The Solution Our Goal Design
Current Progress
Key Features
Performance Measures
Timeline/Budget
Next Steps
Solution
A feeding device that can be controlled by someone who cannot feed themselves.
Robotic Feeding Arm
Benefits from solutionIndependence for users to feed themselves.
Improved quality of life
Frees up staff
Outline
The Problem
The Solution Our Goal Design
Current Progress what we have done.
Key Features
Performance Measures
Timeline/Budget
Next Steps
Current Progress Robot Arm
Schematic
Links
Joint angles
Joint positions
4 DOF
||
Initial Robot Arm Schematic
Current Progress Robot Arm
Solid Works Prototype
Current Progress Robot Arm
Link Lengths
Ratios:
L1: 1
L2: 1/1.618
L3: 1/3.236
Desired LengthWith L1 = 13 ARM can reach up to 18.88
Current Progress Robot Arm
Motors
5 DC Servo Motors
1+1: SPG785A and Top Mount (7:1)
2: HS-805BB Mega Power Servo
3: HS-322HD Standard Deluxe Servo
Bowl: HS-1425CR (Continuous Rotation) Servo
SPG785A Top Mount [2]HS-805BB [3]
Current Progress - Sensors
Proximity Infrared Sensors
Obstacle avoidance
Sharp GP2D120XJ00F
Range: 3cm to 30cm
Analog output
Sharp Proximity Sensor [4].
Current Progress - Control
Microprocessor
5 ADC pins for proximity sensors
5 16-bit Timer registers for PWM output
PWM 16 bit resolution
DIP package
PIC32MX series
PIC24FJ series
Microprocessor 40-DIP package [5].
Current Progress Prototype
Current Progress Program Flow
Outline
The Problem
The Solution Our Goal Design
Current Progress
Key Features
Performance Measures
Timeline/Budget
Next Steps
Key Features Safety
RFID
Device will only work when in range
Safety shut off when no tag is read
Panic ButtonIn case of an emergency user can override device to shut down and call for help.
Key Features Kinematics
Inverse Kinematics (IK)
Location
Pin point desired location
Feedback from camera will
update end effector to meet userObstacle avoidance
IK's allows for remapping
Key Features User Interface
Push Button
For users with gross motor skills
2 buttons
Bowl motor
Food present and return
Facial Recognition
Various facial movements to trigger device
Arm can meet user position
Key Features User Interface
Open Source Computer Vision
Facial recognition
Head movement
[6]
Key Features Bowl and Spoon
Bowl
Rotating and removable
SpoonRemovable
End EffectorBowl
What Sets our Design Apart
Cost Effective
Manufacturing could make affordable for in home use.
Smart DesignSmall learning curve
Simple design keeps costs low
Easy maintenance
Small footprint
Grand potential
Outline
The Problem
The Solution Our Goal Design
Current Progress
Key Features
Performance Measures
Timeline/Budget
Next Steps
Performance Measures
CategoryMeasurementDescription
User Interaction
Push Buttons for arm controlHuman interactionThe push button interface will be a success if the robot can be triggered by different types of users.
Head MovementHuman interactionThe head movement interface will be a success if the robot can be triggered by sideways head movement of different users.
Facial FeaturesHuman interactionThe facial features interface will be a success if the robot can be triggered by facial expressions of different users.
Movement Efficiency
Obstacle AvoidancePath of MotionObservation of arms behavior given an obstacle in test environment.
Food SpillageWastePerformance of the arms ability to provide a smooth path for the food to travel, any spillage from spoon will be unsuccessful.
RepeatabilityNumber of Completions10 successful food deliveries will be a success.
Outline
The Problem
The Solution Our Goal Design
Current Progress
Key Features
Performance Measures
Timeline/Budget
Next Steps
Timeline - Milestones
MilestoneRange
DesignDecember January
PrototypeJanuary February
Debug/RedesignFebruary
BuildMarch
DebugMarch
FinalizeApril
Timeline - Detailed
Pick out RFID systemJan 28Place bulk order
continue developing openCV softwareFeb. 4
Build prototype ARMFeb. 11Code IKS, PIR sensors
Debug ARM mechanics and sensorsFeb. 18continue developing openCV software
Research for new ways to improve the designFeb 25Design Electronic Schematic
Design PCBMar. 4Mar. 7th 1hr online info sessions for finalist begins
Optimize/Redesign PCB OrderMar. 11Test Open CV software
Solder PCBMar. 18Implement Open CV software with ARM
Test ARMMar. 25Test with RFID
Build housing unitApr. 1
Test and Debug ARMApr. 8
Apr. 15Apr. 22nd Final Report Due
Continue test and debugApr. 22Apr. 25th 1hr online info sessions ends
FinalizeApr. 29
May 1Flight to Disney World !!!
Budget
Given $2500 for project development and travel
Our current design is high-averaging around $1000 for parts.
Outline
The Problem
The Solution Our Goal Design
Current Progress
Key Features
Performance Measures
Timeline/Budget
Next Steps
Next Steps
Code
Inverse kinematics
Obstacle avoidance
Computer Vision
ElectronicsFinalize schematic
Design PCB for control circuit
BaseDesign housing (pending on Atom)
References
[1] Report: 15 percent of world population is disabled. [Online]. Available: http://www.washingtonpost.com/national/report-15-percent-of-world-population-is-disabled/2011/06/09/AGZcqBNH_story.html[2] SPG785A Top Mount. [Online] Available: http://www.servocity.com/html/spg785a_top_mount.html [3] HS-805BB Giant Scale Servo Motor. [Online] Available: http://www.robotshop.com/hitec-hs805BB-servo-motor.html[4] Infrared Proximity Sensor Short Range - Sharp GP2D120XJ00F. [Online]. Available: https://www.sparkfun.com/products/8959[5] PIC Microcontroller. [Online]. Available: http://media.digikey.com/Photos/Microchip%20Tech%20Photos/PIC18LF44K22-I%5EP.jpg[6] OpenCV. [Online]. Available: http://opencv.org/wp-content/themes/opencv/images/logo.png