ee/cs 481 spring 2008 1february, 2008 university of portland school of engineering project black cap...
TRANSCRIPT
EE/CS 481 Spring 2008
February, 2008 1
University of Portland School of Engineering
Project Black CapRobotic Prosthetic Arm
TeamJosh Triska
Corban Monger
Ashlee Snodgrass
AdvisorsDr. Wayne Lu
Dr. Peter Chamberlain
Industry RepresentativeMr. Mike Kosloski
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University of Portland School of Engineering
Overview
• Introduction
• Scorecard
• Additional Accomplishments
• Plans
• Issues/Concerns
• Conclusions
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University of Portland School of Engineering
Introduction
• Our Robotic Arm: Approximates human hand/arm degrees of freedom
• Proof-of-concept for prosthetic application as well as test-bed for a mobile robotics
• Other projects are planned to make another arm, shoulders, etc. Fully humanoid robot, anyone?
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University of Portland School of Engineering
Scorecard• Previous month’s plans:
– Begin construction of forearm• Obtain the remaining materials to construct the hand up to the elbow• Obtain our two motors• Construct motor, servo, and host control boards once parts arrive• Write pseudo-code for controllers
– Finish TOPs doc
• What we did:– Obtained aluminum materials, mechanical joints, most
components– Completed construction of 3 fingers; last two are nearly done– Theory of Operations document completed and approved– Servo and host controller programs designed
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Additional Accomplishments
• We have been notified that the Printed Circuit boards are completed and have been shipped; they should arrive this week
• Prepared a demo with a few digital servos and the current working fingers for the engineering week expo
• Congressman David Wu liked our design!
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University of Portland School of Engineering
Plans
• Complete construction of forearm and elbow– Machine the aluminum
– Order large motors
– Attach the servos, mounts, and motors to the forearm
– Construct motor, servo, and host control boards once parts and boards arrive
• Complete embedded programming• Should have working model by the end of the month
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University of Portland School of Engineering
MilestonesNumbe
rDescription Original
10/30/07Previous2/4/08
Present2/26/08
1 Functional Spec Approval 2007.10.05 2007.10.05 2007.10.05
2 Product Approval 2007.10.05 2007.10.08 2007.10.08
3 Plan Approval 2007.11.09 2007.12.07 2007.12.07
4 Wrist Joint Design Completed 2007.11.26 2007.11.26 2007.11.26
5 Design Release 2007.12.07 2008.02.15 2008.02.15
6 Forearm Cavity Design Completed 2008.01.21 2008.01.21 2008.01.21
7 Elbow Joint Design Completed 2008.02.11 2008.02.11 2008.02.29
8 TOP’s Approval 2008.02.22 2008.02.15 2008.02.15
9 Circuit Boards Manufactured 2008.02.26 2008.02.26 2008.02.26
10 Wrist Joint Manufactured 2008.02.28 2008.02.28 2008.02.28
11 Forearm Cavity Manufactured 2008.03.18 2008.03.18 2008.03.18
12 Control Software Completed 2008.03.21 2008.03.21 2008.03.21
13 Founder’s Day 2008.04.08 2008.04.08 2008.04.08
14 Final Report 2008.04.25 2008.04.25 2008.04.25
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University of Portland School of Engineering
Concerns/Issues
• Concerns/issues:– Flexing of aluminum members
• Possible solutions:– Material needs to be tested for deformation– Laminating multiple members to increase
rigidity
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Conclusions
• The hand is nearly completed
• We have all materials and nearly all components and parts
• The hand says hello!!!
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EE/CS 481 Spring 2008
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University of Portland School of Engineering
EE/CS 481 Spring 2008
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University of Portland School of Engineering