Casey Dill (ME): Lead/MechanicsArthur Connors (EE): Control System

Andrew Torkelson (ISE): Test DevelopmentDr. Kathleen Lamkin-Kennard: Guide/Sponsor

P09029: Robotic Hand Improvement

Customer Needs

Engineering Specifications

Electrical ConceptsLabVIEW

Control System DevelopmentOutputs to SolidWorks ModelOutputs to Physical Prototype

Control SystemMovement Accuracy – Position and SpeedFeedback Considerations – Accommodating for

DelayOutputs to Both SolidWorks and Prototype Using

Same VIComponent Familiarization

Relay Boards, Relays, and Data Acquisitioners (DAQs)

Concept Description and Rationale

Control System Overview

Control System Feedback Loop

Concept Description and Rationale

Concept Description and Rationale

Concept Description and Rationale

System Architecture

Med-High Risk Assessment

All software has been installed on a computerEli* from NI. His latest email indicates

academic license may be an issue. Limit at getting SolidWorks and Labview

working together set to 2 weeks, or switch to a different software package.

*Eli SeidnerApplications Engineer, National Instruments.eli.seidner@ni.com | (512) 683-0971

Current State of Design

Milestone ScheduleWeek Plan Contingency

1Start building test stand  

Work on getting simulation workingIf simulation isn't working by Friday, look for alternatives

2Get simulation working If simulation isn't working by

Friday, use a different programMake a few air muscles

Buy controls stuff  

3

Make a control system to test muscles  

Test relaysIf parts haven't arrived, refine model

Run through demosIf a alternative simulation program is being used, attempt demo 

4Make list of joints to test  Complete test plan  Work on simulation  

5Demonstrate simulation with displacement If not done, work on simulationWorking air muscles for 1 joint Debug controls

Milestone Schedule

6Get forces working for simulation (I)  Characterize more air muscles (I)  

7

Get forces working for simulation (II)  Find math models  Find how to apply math  

8Develop math more  Characterize more air muscles (II)  

9Apply math model to simulation If model is too complicated, use a

simplerapproximation 

10 Calibrate forces in simulation  

11

Demonstrate working simulation of air muscles  Show test stand  Prove math model  

Primary DeliverablesComputer simulation of common joints.Prototype that demonstrate accuracy of the

simulation.Sub Deliverables

Week 2: A test stand.Week 3: A working simulation software.Week 5: A simulated joint without accurate

forces.Week 7: Simulated forces in simulation.Week 10: Working, accurate computer model.

Milestone Schedule

For the next two weeks:Continue emailing and calling Eli S. (Casey and

A.J.)Design the test stand (Casey and Andrew)Create a preliminary control system for the test

stand (A.J.)

Milestone Schedule