robotic arm 4 29-14 wo poster presentation
TRANSCRIPT
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• Team• Tim Mikal• Anthony Tilley• Juddson Frost• Allen Tan
• Supervisor:• Dr. Kee Moon
CHAIR MOUNTED ASSISTIVE ROBOTIC ARM
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CHAIR MOUNTED ASSISTIVE ROBOTIC ARM• Project Description
• Design, analyze and fabricate a chair mounted robotic arm assistive device
• Mechanism is engineered to assist people who suffer from a decline in neuromuscular function which causes weakness in the limbs
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DESIGN ITERATIONS• Interrupted Axle Concept• Original Design
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PUGH MATRIX
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1ST SEMESTER FINALPROTOTYPE ASSEMBLY
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UPPER ARM REINFORCEMENT
• FDM Plastic not rigid enough• G10 reinforcement• Increased stiffness• Increased load carrying capability
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1ST SEMESTER STRESS & LOAD CASE ANALYSIS
• Worst case loading scenario used for analysis• 8lbf arm load directly applied to end of
humorous component• Perpendicular loading very
conservative• Factor of safety > 3
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FRACTURE FAILURE• FDM Plastic delaminated due to high
stress concentration• Design originally intended for
aluminum
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NEW MATERIAL SELECTION• 6061-T4 Aluminum
• Relatively easy to machine• Relatively low cost• Light weight• Corrosion resistant
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• 6061-T4 Aluminum• Increased stiffness• Increased load carrying capability• F.S. = 4.8
SHOULDER JOINT
REDESIGN
• 6061-T4 Aluminum• Increased stiffness• Increased load carrying capability• F.S. = 14
SHOULDER
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• 6061-T4 Aluminum• Improved Motor interface• Increased load carrying capability• F.S. = 2.7
FOREARMREDESIGN
• 6061-T4 Aluminum• Improved cuff interface• Improved motor interface• F.S. = 10
HUMOROUS
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REDESIGNED ASSEMBLY
Mass PropertiesMaterial = 6061-T4Aluminum
Density = 0.05 lb/in3
Mass = 2.84 pounds
Volume = 52.36 in3
Surface area = 329.36 in2
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PROCUREMENT MATRIX (BILL OF MATERIALS) McMaster Carr Part # Description QTY. Price Package count
Aluminum Block (50mm x 25mm x 10mm) (2.00in x 2.00in x 0.40in) Bearing Cap 5 $ 178.33 1
Aluminum Block (101mm x 83mm x 81mm) (3.98in x 3.26in x 3.2in) Shoulder arm part 1 1 - -
Aluminum Block (92mm x 61mm x 50mm) (3.622in x 2.4in x 1.97in) Shoulder arm part 2 1 - -
Aluminum Block (361mm x 55mm x 76mm) (14.22in x 2.16in x 3.00in) Humerous arm rev 2 1 - -
Aluminum Block (73mm x 30mm x 125.3mm) (2.9in x 1.15in x 5.00in) Forearm rev 2 1 - -
91801A224 Machine Screw M-0.7P, 20mm long 8 $ 9.66 50
5972K275 Bearing 6 $ 47.58 $7.93 each
90576A102 Lock Nut M3-0.5P 16 $ 3.18 100
95610A640 Nylon Washer 17ID,30OD,2.7mm thick 1 $ 6.75 25
92010A143 Machine Screw M3-0.5P, 35mm long 12 $ 10.38 50
92010A024 Machine Screw M2.5-0.45P, 14mm long 24 $ 5.91 100
92005A128 Machine Screw M3 20mm long 6 $ 3.00 100
BEARING CLAMPS FOR FINAL DESIGN 6 $ 25.00 6
All Blk.(Blocks) will need be Multi Purpose Aluminum Alloy 6061 Total Cost $ 414.79
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MATERIAL FITMENT
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MACHINED FINAL ASSEMBLY
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ACCOMPLISHMENTS• New design removed unwanted loads from motors
• New design incorporates bearings that are securely mounted by new bearing clamps; are double sealed, lubricated, and maintenance free
• New design provides a robust assembly that will serve as a reliable test bed for years
• Assembly was designed for function and ease of manufacture using 6061-T4 Aluminum
• Assembly proves the design tolerance and fit up considerations worked
• Mechanism is adjustable to fit different users
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FURTHER DEVELOPMENT• Stronger motors could help development phase• Weight optimized structural member design to reduce need for bigger
motors would be helpful• Adjustable forearm cuff could be advantageous
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Questions?