Download - CIS Humanoid Hand Team Members: Tom Billings, Mike Stock, Scott Shugh, Ananya Majumder, Kit Buckley
CIS Humanoid HandCIS Humanoid Hand
Team Members:Team Members:
Tom Billings, Mike Stock, Scott Shugh, Tom Billings, Mike Stock, Scott Shugh, Ananya Majumder, Kit BuckleyAnanya Majumder, Kit Buckley
Polymorph Fingers Rapid Prototype Palm
TouchSensor
TouchSensor
TouchSensor
TouchSensor
TouchSensor
Touch Sensor Wires
Bi-Polar Stepper Motors
Touch Sensor(On back)
Microcontroller
Serial Connection
C++ Program in IMA2 architecture
Right Arm Agent (C++ source in IMA2 architecture)
Other ISAC component Agents (C++ source in
IMA2 archictecutre)
ISAC Control using DAD (Distributed Agent
Designer)
Driver
Driver
Driver
Driver
Overall Architecture
Tactile Sensors
Current StatusCurrent Status - Structural - Structural
PolymorphPolymorph3 hands have been made3 hands have been made
11stst generation generation One pieceOne piece Exterior cable guardsExterior cable guards
ProsPros No welded jointsNo welded joints Light weightLight weight
ConsCons Fabrication timeFabrication time Exterior guards weakExterior guards weak
22ndnd generation generation Digits fabricated individuallyDigits fabricated individually Bored holes through finger for cablesBored holes through finger for cables
ProsPros More attention to each pieceMore attention to each piece Secure cable routesSecure cable routes
ConsCons Too heavyToo heavy Palm is main jointPalm is main joint
Current StatusCurrent Status - Structural - Structural
Current StatusCurrent Status - Structural - Structural
33rdrd generation generation Same fabrication process as 2Same fabrication process as 2ndnd generation generation Lighter palmLighter palm
ProsPros Meets weight requirementMeets weight requirement
ConsCons Question sustainability of palm strengthQuestion sustainability of palm strength
Full Hand: Proposed StructureFull Hand: Proposed Structure
Composite design Composite design incorporating polymorph incorporating polymorph fingers with a rapid fingers with a rapid prototyped palm.prototyped palm.
Rapid Prototyped PalmRapid Prototyped Palm
Anticipated Cost - $20Anticipated Cost - $20 ProsPros
LighterLighter More detailedMore detailed RepeatableRepeatable Allows for interchanging Allows for interchanging
fingersfingers
ConsCons Less flexible if design Less flexible if design
changeschanges Cost relative to polymorphCost relative to polymorph
Touch SensorsTouch Sensors
Last time we Last time we were considering were considering force sensors.force sensors.
We have We have determined that determined that touch sensors touch sensors will be easier to will be easier to work with. work with.
Touch SensorsTouch Sensors
We have decided to use the TACT004 Standard We have decided to use the TACT004 Standard Tactile Switch ordered from futurlec.comTactile Switch ordered from futurlec.com
Cost: 30c/switchCost: 30c/switch Dimensions will allow the switch to be placed in Dimensions will allow the switch to be placed in
a small indentation made in the fingertip.a small indentation made in the fingertip.
Control CommunicationControl CommunicationParallelParallel
Only one interrupt lineOnly one interrupt linePermanent damage of motherboard could Permanent damage of motherboard could
resultresultPhased out interfacePhased out interface
MicrocontrollerMicrocontrollerMultiple interruptsMultiple interruptsStandalone applicationStandalone applicationSerial/USB outputSerial/USB output
Freescale Freescale
16-Bit HCS12XDT512 Student Learning Kit16-Bit HCS12XDT512 Student Learning Kit Each kit includes required hardware, CodeWarrior Each kit includes required hardware, CodeWarrior
Development Software, and informational CD. Development Software, and informational CD.
Highly documentedHighly documented Similar to ‘in-house’ Motorola microcontrollers Similar to ‘in-house’ Motorola microcontrollers
used in EECE 218 and EECE 276used in EECE 218 and EECE 276 $95$95
PICPICPCW Student Development KitPCW Student Development Kit
Includes:Includes:Student Version PCW IDE ComplierStudent Version PCW IDE Complier
Limited to PIC16F877A BoardLimited to PIC16F877A Board Allows programming in C or AssemblyAllows programming in C or Assembly
Intro to PICIntro to PIC©© C C and Examples and ExamplesNecessary hardwareNecessary hardware
Including: PIC16F77A BoardIncluding: PIC16F77A Board
and Breadboardand Breadboard
Cost: $149Cost: $149
EasyDriver v3EasyDriver v3Uses A3967 Driver ChipUses A3967 Driver Chip
Optimized by always stepping in 1/8Optimized by always stepping in 1/8 thth steps stepsSimplifies motor operation to 2 input pins Simplifies motor operation to 2 input pins
directing forward, backward, and no motiondirecting forward, backward, and no motionMax Current: 750 mAMax Current: 750 mA
Overheating issues whenOverheating issues when
approaching 750 mAapproaching 750 mA
30 V Output Rating30 V Output RatingPrice: $14.95Price: $14.95
Other Driver Options ExistOther Driver Options ExistL293D
• Output current of 600mA per channel
• Documentation available
• Listed as $2.75 each on digikey
Bi-polar Stepper MotorsBi-polar Stepper Motors MO-095MO-095
Holding torque = 0.068NmHolding torque = 0.068Nm Rated current = 750mARated current = 750mA Step Angle 1.8 degreesStep Angle 1.8 degrees $18$18
MO-097MO-097 Holding torque = 0.198NmHolding torque = 0.198Nm Rated current = 400mARated current = 400mA Step Angle = 1.8 degreesStep Angle = 1.8 degrees $22$22
MO-101MO-101 Holding torque = 0.343NmHolding torque = 0.343Nm Rated current = 500mARated current = 500mA Step Angle 1.8 degreesStep Angle 1.8 degrees $49$49
C/C++ Class Microcontroller
Wait StateFunction Call
Request
Acknowledge
Function(Close or Open)
Close:Pulse drivers until max steps or interrupt
Interrupt – stop, record steps
Open:Look to # stepsPulse drivers other way until zero
Complete
Software Overview
Structural CostsStructural Costs Polymorph: $40 per 500gPolymorph: $40 per 500g
For 5 fingers (125 g): $10For 5 fingers (125 g): $10 Rapid Prototype: $5 per cubic inchRapid Prototype: $5 per cubic inch
For palm (5 inFor palm (5 in33): $25): $25 Elastic shock cords: $2 per yardElastic shock cords: $2 per yard
5 yards: $105 yards: $10 Heavy Test Fishing Lining: $0.10 per yardHeavy Test Fishing Lining: $0.10 per yard Cable Housing: $20 per 25 feetCable Housing: $20 per 25 feet
MechanicsMechanics Bipolar Stepper Motor: $22-40 per motorBipolar Stepper Motor: $22-40 per motor
4 motors: $88-$1204 motors: $88-$120 FeedbackFeedback
Touch Sensors: $0.30 per sensorTouch Sensors: $0.30 per sensor ControlControl
Microcontroller: $150Microcontroller: $150 Total Cost Estimate: $350Total Cost Estimate: $350
CostCost
ScheduleSchedule