spring 2013 marc deangelis paul hauris katherine leshkow jennifer moore
DESCRIPTION
Basic Goals x-, y-, z-axes Load applied Horizontal, vertical 5DOF Our Goals Working Model User-friendly Cost Effective Minimal MachiningTRANSCRIPT
Ankle Positioning Device
Spring 2013
Marc DeAngelisPaul HaurisKatherine LeshkowJennifer Moore
Complex Joint Full Range of Motion
Inversion/Eversion Plantar Flexion/Dorsiflexion Internal/External Rotaton
Background
IntroductionBasic Goals
x-, y-, z-axes
Load applied
Horizontal, vertical
5DOF
Our Goals
Working Model
User-friendly
Cost Effective
Minimal Machining
Pin• Layered• Framed
Plates• Gimbal
Pin
Designs
• 4DOF
Framed Plate
Layered
• 3 DOF
• 3DOF
• 4 DOF• Built upon
earlier ideas
Gimbal
Basic Conceptual Design • Selected Design• 4 DOF
Clamp Design (Tibia)
Design Modifications• Joint Design• Motors• Load Cell
Joint Design
• Calculations• Torque Consideration• Weight Requirement• Final Selection
100 lbs
Design Modifications - Motor Selection
Design Modifications - Load Cell• Function• Importance of Location
• Necessary Change• Earlier Design’s Flaws
Design Flaws - Structural Support
Design Flaws – Translational Flaw
Control Algorithm
Control Algorithm
Servo without Filter
Servo with 2nd Order Butterworth Pass Filter
Cost Analysis• Base Plates
• 24” x 24” 1” thick Al plate - $544.97• 18” x 18” 1” thick Al plate - $306.55
• Stabilizer Base
• 3/16” thick Al - $63.19
• Three Motors - $719.94
• Vertical Bearings - $92.88
• 6DOF Analog IMU - $72.50
• Arduino Uno - $29.95
• TOTAL ESTIMATED COST: $2,768
Gantt