Robotic Arm Project

1. Robotic Arm Project Authors Corban Monger Josh Triska Ashlee Snodgrass • Advisor • Dr. Lu, Dr. Chamberlain • Industry Representative • Mr. Kosloski University of Portland School of Engineering

2. Agenda • Introduction Ashlee Snodgrass • Background Ashlee Snodgrass • Methods Corban Monger • Results Josh Triska • Conclusions Ashlee Snodgrass • Demonstration Team University of Portland School of Engineering

3. Introduction Project: • To create a human shaped hand and arm assembly for Dr. Lu Purpose: • To have a arm that Dr. Lu can use for research in Humanoid Mobile Robotics University of Portland School of Engineering

4. Background Our project focus = dexterity vs. strength and large movements • Neat Details • Arm and hand allow fine movements • Ability to do American Sign Language (ASL) • Interesting integration of different disciplines University of Portland School of Engineering

5. Methods • Steps for Project • Planning • Brainstorming, Identifying need, acquiring resources • Design Disciplines Involved • Mechanical Engineering • Electrical Engineering • Firmware Programming University of Portland School of Engineering

6. Methods • Steps for Project Cont. • Gathering Materials and Resources • Manufacture and Programming • Fabrication and Implementation • Metalworking Lathe and Milling Machine • Printed Circuit Board Fabricated Offshore • Hand and Arm Assembly • Bringing it all together! University of Portland School of Engineering

7. Methods Cont. • Major Challenges • Manufacturing Time Vs. Available Time • Complexity • Lack of Discipline Specific Experience • Making Own Tools • Tool Breakage University of Portland School of Engineering

8. Methods Cont. • Technical Sequence • Separated project by discipline sections • Consulted professors and experts in various fields • Looked at documentation • Checked forum websites • Focused on modular design for easy reparability University of Portland School of Engineering

9. Results • Three Main Subsections • Mechanical Engineering • Electrical Engineering • Firmware and Microcontrollers University of Portland School of Engineering

10. Results Cont. • Mechanical Engineering • Analysis, Simulation, and Design • Modular Design of Wrist, Forearm and Elbow • Material Selection and Analysis • Focus on light-weight materials • Machining • Producing the arm mechanical structure University of Portland School of Engineering

11. Mechanical Design University of Portland School of Engineering

12. Electrical Results • Electrical Engineering • Servo Controller Board • Host Controller Board • Motor Controller Board • Board Manufacture University of Portland School of Engineering

13. Servo Control University of Portland School of Engineering

14. Results Cont. • Firmware and Microcontroller Programming • Firmware and Network Protocols • Algorithm Development • User Interface Development • FAT8 File System Development University of Portland School of Engineering

15. Results University of Portland School of Engineering

16. Conclusions • Robotic arm for humanoid mobile robotics • Project extent was from wrist to elbow • Successful design and implementation • Mechanical and Electrical Emphasis = Robust, manufacturable and repairable • Modular design University of Portland School of Engineering

17. Future Development • Development of shoulder joint • Research further reduction of weight • Placing outer skin on arm University of Portland School of Engineering

18. Demonstration Demonstration will cover the hand signing 0-9 in ASL. University of Portland School of Engineering

19. Thank You. Are there any questions? University of Portland School of Engineering