Grabot By Krithika Rangarajan Megha Shah Mahendran Ravichandran

Grabot By Krithika Rangarajan Megha Shah Mahendran Ravichandran Prakash Subramanian Viswaath Ganesan Under the guidance of: Dr. Abhilash Pandya

Introduction Cervical Injuries leave people paralyzed depending on the nerves which have been injured. l Motion of the limbs are of crucial importance to every human being l The function of upper limbs is to hold , grab and move objects around. l The arm we are building is to be straped around the dominant arm and commands are to be issued to perform necessary actions l

Project Aims l Light weighted: As the arm needs to strapped to the human arm it needs to be light. We have built a prototype and can be miniature according to the user l Least number of motors to smoothen the action of air muscle and again reduce weight of motors as well as batteries l Incorporating voice control into the microcontroller to reduce the electronics of the circuit

Block Daigram Microphone VR Stamp Module Driver Circuit Grabber motion Solenoid Valves Air Muscle Mechanical Motion Compressor

Main components used l Air Muscle l VR Stamp Module l Solenoid Valves l Telescopic arm l Grabber

Air Muscle Before air is blown into the air muscle it is in stretched form After air is blown into the air muscle in compressed form

Properties of Air Muscle l Weighs on 10 grams (light weight) l No lag of time and has immediate response l Can be operated even when twisted axially and need to precise aligning l Produce an incredible force especially when full stretched l Works as a soft actuator.

VR Stamp Module

Voice Recognition We use an embedded RSC-4 X microcontroller chip capable of voice recognition. l The microcontroller comes in the form of a embedded chip capable of working as a standalone micro controller called VR STAMP MODULE. l

Voice Recognition cont… l Advantages Noise-robust Speaker Independent (SI) and Speaker Dependent (SD) recognition. l Low power Audio Wakeup from sleep l Microphone preamplifier l 24 I/O lines l Low power requirements l • VDD = 2. 70 V – 3. 6 V • IACT = 26 m. A @ 3 V • ISLEEP = <20 u. A @ 3 V

Solenoid Valve l SMC SY 100 SERIES ¡ ¡ ¡ Working temp: -10 to 50 deg C. Response time 10 ms Operating voltage -> 5 V Operating pressure -> 0 to 0. 7 Mpa Port size M 3.

Working of solenoid valve

Grabber Strong Enough to hold a 20 oz Soda-Can l Dexterous Enough to grab a Feather l

Grabber Motor Stall Torque : 6. 5 inch-pounds l Free spin : 74 rpm at 7. 5 V l Current Draw : 0. 14 Amps to about 1. 6 Amp. at stall per Motor at 7. 5 V l

Mechanical Design

MECHANICAL PARTS PULLEY 2 HOLDER PULLEY 1 GRABBER ATTACHMENT

CIRCUIT DESIGN

CIRCUIT DESIGN Cont. .

GO REVERSE MUSCLE 1 MUSCLE 2

FUTURE ENHANCEMENTS l Telescopic arm has to be miniaturized. l Using multiple air muscles to make step by step movements. l Using proportional valve to increase the efficiency of the air muscle. l Making a lighter model of the arm using some lighter material

Acknowledgement l Dr. Abhilash Pandya l Team of 3 Dimensional Services: Mr. Vince Brown Mr. Mike Finta & group

References l l l www. Shadowrobot. com air muscle www. smcusa. com solenoid valve http: //www. fas. ch/info_tech_voies. asp? section. ID=t&Langue=english') www. sensory. com www. vexlabs. com