Second Semester Design

Presentation Review

Electrical/Control System Direct Drive Base Motor Choices End effecter development and plan Review

Electrical / Control System User interface

RF control comes with receiver (analog input to microcontroller).

Gamepad USB. Ran into problems with slave – slave connection. Would have to add additional USB host hardware/ software.

Hardware changes Change from BasicStamp to Rabbit

microprocessor.○ Rabbit has interrupts, Pulse Width Modulation (PWM),

we are familiar with programming it. Motor controllers

○ Reuse motor minds where necessary○ Shoulder motor comes with new motor

Remove unused hardware○ Mini- ITX

Rebuild avionics box Software Tasks

Program Rabbit○ User input to Rabbit○ Rabbit to controllers○ Control algorithm

Direct Drive Base

Bearing

Mounting Frame Fastener

Motor Rotor

Mounting Frame

Motor Stator

Base Frame

Weight of Motors and Gearboxes

Previous Design

Base Rotation:- Motor: 2.6 lbs

Shoulder Joint: - Motor: 1.5 lbs- Gearbox: 14 lbs

Elbow Joint:- Motor: 1.5 lbs- Gearing: 0.5 lbs

Linear Actuator:- Motor: .2 lbs- Gearbox: 0.7 lbs

Total Weight: 21 lbs

New Design

Base Rotation: - Motor: 0.8 lbs- Housing: 0.5 lbs

Shoulder: 5.3 lbs

Elbow Joint: - Motor: 1.3 lbs- Gearbox: 0.5 lbs

Wrist Joint: - Motor: 0.6 lbs- Gearbox: 0.4 lbs

Percussive Poker:- Motor: 0.2 lbs- Gearbox: 0.4 lbs

Total Weight: 10 lbs

Percussive Poker Design Goals

Design and build a percussive poker prototypeFinish it within two weeks

Test GoalsDetermine motor torque and rpm necessaryOptimum poker stroke Test different tips tips

Design options

#1 Sewing machine drive

Design options

#2 Cam drive

Design Choice

Sewing machine actionHigh bearing tolerances More moving partsLess torque than cam design

Cam action Simpler to machine and assembleLess moving partsSlightly more torque than sewing machine

Semester Goals Poker Design

Correct any major design flawsDesign much lighter caseChoose a suitable motor

Most/all of parts machined and assembled by March 7th

Rest of semester for testing and improvement

Arm design completed when final motor decision made

Senior Design Expo April 25th

Gantt Chart