Project Overview- Strong ArmProject Overview- Strong Arm

ECEN 4160, Spring 2005

Thaine Hock

Matt Corne

Sammit Adhya

Luz Quiñónez

Adhya, Corne, Hock, Quinonez 2

Project GoalsProject Goals

To design and build the controlling electronics for a six-axis robotic arm that can be controlled through the use of simple finger motions

Arm will allow paraplegics to control robotic arm in three dimensions

Proof of concept of a larger scale device and training

system

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Outline of ApproachOutline of Approach

Microcontroller-Freescale 68MC12

GPIO

LEDDetection

Grid

TouchScreen

RoboticArm-

LynxMotion

LCD-Optrex

FingerSensors

SerialGPIO

Serial

PWMGPIO

FPGA- Xilinx XCS10

CS Signals

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Finger SensorsFinger Sensors

Polar Coordinate Control System– Push Buttons and Limit Switches

– Six directions of control

– Grip and Release

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Finger DiagramsFinger Diagrams

Limit Switch controls r axis (forward)

/Button controls r axis (back)

Limit Switch controls z axis (up)

/Button controls z axis (down)

Limit Switch controls Φ axis

(right) /Button controls Φ axis (left)Thumb button controls grip

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FPGAFPGA

Controls the IR Detection Array– Determine Initial Block Positions

Send Polar Coordinate Position to Micro Controller Using Memory-Mapped Registers

Create all needed glue logic for PCB

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FPGA SchematicFPGA Schematic

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ArmArm

Lynxmotion Robotic Arm– Six degrees of freedom

• Base rotation, shoulder, elbow, wrist motion, wrist rotate, and a functional gripper

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Movement CalculationsMovement Calculations

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MicrocontrollerMicrocontroller

Compute servo positionsProduce PWM signals to control

servosProcess finger sensor dataProcess touch screen data

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Microcontroller SchematicMicrocontroller Schematic

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Bus DesignBus Design

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Microcontroller and BusMicrocontroller and Bus

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PCB LayoutPCB Layout

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User InterfaceUser Interface

• QVGA LCD with 8-wire resistive touch screen

• Interfaces to MPU through dual serial interfaces.

• Able to store images in onboard 16Mbit flash memory.

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IR SensorsIR Sensors

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Parts ListParts ListMicrocontrollerMicrocontroller MC9S12DP256BCPVMicromonitor DS1705EPACMOS SRAM K6X0808C1DCMOS Flash Memory Am29F010B16-bit Bus Tranceiver 74AC16245DL16-bit D Latch 74AVC16373DGGR

FPGAFPGA XCS10-3PC84CPROM XC18V256

MiscellaneousAND gate SN74LS08JPower Jack RAPC712SPST Button PGS125SK43TTL Clock F1100ESM Capacitors T496Diode 1N4008Voltage Regulator LM7805CT

LM78M33C

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Startup Software DiagramStartup Software Diagram

Block Pos.

Block Pos.

PowerOn

Initialize68MC12,

FPGA,AndArm

FPGA-Block

Detection

68MC12-Initial Block

Positions

Position Registers

68MC12-Main

Routine

Depending on how many blocks…

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Control Software FlowControl Software Flow68MC12-Main

Routine

Poll Finger Sensors

CalculateServo

Positions

GeneratePWM

Signals

No Data

UpdateUser

Interface

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Division of LaborDivision of Labor

Finger Sensor– Thaine

FPGA Implementation– Sammit

PCB and Micro controller– Thaine

Robotic Arm Algorithms– Sammit and Matt

IR Sensor and Block Detection– Luz

User Interface– Matt

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ScheduleSchedule

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MilestonesMilestones

Milestone 1:– User will move robotic arm in one

direction using our commands produced by our board.

Milestone 2:– Robotic arm will be able to pick up and

move a block in 3 dimensions. Also, initial user interface with touch screen will be complete.

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Milestone (cont…)Milestone (cont…)

Open Lab:– User ability to control robotic arm in the

relocation of blocks to a predefined location.

– Once task is finished (successful or not), system will locate blocks and reset them to a known operating position.

– User (or helper) will interface with system using a color touch screen.

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Risks and Contingency PlanRisks and Contingency Plan

Mapping cylindrical coordinates to servo positions may prove difficult

IR sensors not sensitive enough to detect block positions

Fall Back Plan:– A helper can physically reset system to

known operating state

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Cost (BOM)Cost (BOM)

Actual ExpendituresAnticipated Expenditures

Item Cost DateArm $272.70 1/24/2005Dev Board $140.05 1/28/2005Magnetic Sensors $195.01 1/31/2005PCB rev 1 $135.77 2/15/2005E-Stores Parts $51.05 2/17/2005Latch / Tranceiver $13.00 2/15/2005

Total $807.58

Item Cost DateArm $272.70 1/24/2005Dev Board $140.05 1/28/2005Magnetic Sensors $195.01 1/31/2005PCB rev 1 $135.77 2/15/2005E-Stores Parts $51.05 2/17/2005Latch / Tranceiver $13.00 2/15/2005PCB rev 2 $135.77 3/16/2005Parts (rev 2) $100.00 3/16/2005PCB rev 3 $135.77 3/28/2005Parts (rev 3) $100.00 3/28/2005LEDs/Receivers $100.00 3/16/2005Touch Screen $500.00 3/21/2005Miscellaneous $100.00 4/12/2005

Total $1,979.12

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Economic Aspects and Economic Aspects and MarketabilityMarketability

Training unit cost is relatively low Practical arm cost will be very high Moderate demand Possibility of medical insurance covering

some/most of the cost Approx 7800 Spinal Cord Injuries each

year, many of them could benefit1

1:http://www.sci-info-pages.com/facts.html

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Sustainability and Sustainability and ManufacturabilityManufacturability

Parts widely available for control circuitry. Can be used with many different arms Effect of component tolerances are low

except for a small handful Auto-test routines in software Complies with regulations and is safe to

operate (training version)

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Environmental ImpactEnvironmental Impact

Pros Can be mostly lead-

free No byproducts

Cons Would need large

battery (most likely toxic)

Consumes large amounts of power

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Impact on SocietyImpact on Society

Full scale device would allow some handicapped persons to be able to perform more physical tasks, qualifying them for more job opportunities

Questions?Questions?

Thanks!