PROJECT OSCAR CYBOT OSCAR is a selfpropelled selfdirected

PROJECT OSCAR / CYBOT OSCAR is a self-propelled, self-directed, voice- and wirelessinteractive robot that is the subject of an ongoing senior design group which is divided into five sub teams: end effector, motion control, power, sensors, and software. End Effector OSCAR Overview Abstract Motion Control: Packaging motion control circuit with clearly defined inputs and outputs The end effector sub team is in charge of designing, fabricating, programming, and testing an arm and hand/ claw assembly for OSCAR to interact with his environment. This semester the end-effector team will complete the design of the arm and start the assembly of the arm and the electronic and software controls for the arm. Power: Supplying sensor team with a stable 5. 0 Volt, 2. 0 Amp power source Establishing a power budget for OSCAR which will serve as a valuable resource for future teams that wish to make additions Technical Problem Stress that will be placed on the arm Size and power consumption Interface between CPU and micro controllers Manufacture of arm on campus OSCAR with end effector Functional Requirements / Design Constraints Developing additional demonstration software Hand assembly Determining proper motor sizing, link lengths, velocities, torques, range of motion, power needs and materials for arm Ordering components and machining of basic parts started Completing detailed drawings of arm assembly and final specifications meeting all the functional requirements Detailed schematics of entire electrical control system Completing assembly and testing of arm components as well as control systems End Product Description Software: Developing OSCAR remote control via Internet Implementing voice control “Human-like” range of motion Ability to lift 3 pounds Fine motor control Limited power consumption Arm restricted to 2/3 of fourth tier Measurable Milestones Sensors: Implementing hardware and software for the 8 sonar sensors spaced around OSCAR’s perimeter Total Budget $2229 Total Personnel Budget 2322 hours Team Members Advisor: Dr. Ralph Patterson End Effector: Tim Mc. Cormick, Mike Taylor, Linda Lua, Stephen Shi, Jet-Ming Woo, Mark Bly, John Cao Motion Control: Josh Bertram, Jo-Yi Foo, Sath Sivasothy, Rius Tanadi Power: Kiet Nguyen, Nathan Nguyen, Nick Sternowski Arm will pivot at the center of the robot on a track, Sensors: Ben Martin, Jill Bigley, Chris Hutchinson, functioning like a human arm Adam Kasper, Saw-Meng Soo, Naveen Byreddy Outside the frame of the robot will be an elbow allowing Software: Sean Wiechman, Fransiskus Komala, Curtis 200 degrees of vertical rotation Balmer, Adnan Khan, Anthony Bozeman, Caleb Hand allowing the robot to grip items less than four Huitt, Muhammad Safiullah inches Entire assembly will be controlled by central computer Visit Project OSCAR at http: //ee. iastate. edu/~cybot