Project Proposal 3 D Robotic Arm Continuation Southeastern

Project Proposal: 3 D Robotic Arm Continuation Southeastern Louisiana University Fall 2016 ET 493 - Senior Design I Presented by: Jace Babin, Andrew Brouillette, Bach Nguyen, Bryce Schell, Alexander Stein Advisor: Dr. Cris Koutsougeras

Introduction With advances in technology, robotics have begun to become more capable and are able to go where humans can not or should not go. The concept of the finished project has many uses and would be a great way to demonstrate our knowledge of Engineering Technology. Examples of robotic application: ● EOD robots (Explosive Ordnance Disposal) ● Robotic Surgical Systems ● Robot Nurse or Helper ● UAVs (Unmanned Aerial Vehicle)

The Current Hand Design

Tip of finger Showing cable channel Issues ● Not enough Do. F ● All the finger not all the same size ● Not enough functions ● Only one wire ● Too flat Resolutions ● Resizing finger for a smaller scale ● Add more cables ● Enable more degree of freedom. ● Add more curves Fingers and Joints

Issues ● The cables are too stiff ● They are easily bended ● Not malleable Flexible cable that allows for push and pull force transmission Resolutions ● Find a another possible candidate for cable ● Add a valve on the actuators ● Reduce the bending while the cable moves DC Motors to Curl Finger

Issues ● Flat and unrealistic hand ● Single wire for each finger Resolutions ● Curvy ● Smaller ● Add wire room and pathways Bowden Cable Design Wire Channels

Issues ● Too many motor drives ● Power consumption issues ● Raspberry Pi 1 doesn’t have enough connection ● Raspberry Pi 1 doesn’t have enough power ● Old code Resolutions ● Clean up wires in the circuit ● Use to Raspberry Pi 3 ● Add a more efficient motor drive modular ● Write new code The Current Control of the Hand

Issues ● Can be easily stripped from the screws ● DC motors have no boundaries ● Takes up too much space Resolutions ● Redesign parts-smaller design ● Secure connection between screws ● Secure connection between the DC motors ● Compact the design DC Motors for open and close & Servos for articulate Controls

Issues ● Not functioning properly ● Inaccurate ● Needs to be rewired ● The bend sensors are not secure ● The current design only support open and close Resolutions ● Rewire the glove ● Secure the connection ● Find a way to fasten the bend sensors to the glove ● Add a sensor to calculate the articulation of the finger Control Glove

Jace Babin will be working on the communications between the robotic hand the user glove that will control the movements of the Responsibilities robotic hand. Andrew Brouillette will be working with the motors to control the movement of the hand , helping to program the Raspberry Pi for the connectivity with the glove. Bach Nguyen will be in charge of the timeline for each member tributing to the project and of creating a new glove for the user to control the robotic arm. Bryce Schell will be working in Solid. Works to create more efficient parts needed to replace the old set of fingers and hand. Alexander Stein will be leading of the assembling of the fingers/hand Coding degrees and controls for the additional wiring to the hand.

Deliverable 1. 2. 3. Finish a redesign of the hand a. Design new parts b. Assemble Solid. Works parts c. Assemble wiring throughout hand Programing finger movement a. Redesign the DC motor screw b. Controls for wires(3) for a fingers(4) c. Controls for wires(3) for thumb Control glove a. Design new glove b. Assemble glove c. Program glove readings d. Connection to fingers

Timeline Oct 5 th - 19 th: ● Research and design the fingers for more articulate method ● Design fingers in Solid. Works ● Assemble fingers/wiring ● Research new glove sensors/communication ● Research replacement for DC screws for fingers Oct 20 th - Nov 4 th: ● Assemble glove sensors ● Start coding glove sensors ● Implement/test improved microcontroller for the hand ● Assemble replacement for DC screws for fingers Nov 5 th - Nov 19 th: ● Connect finger wires to DC replacement ● Program the all finger movement functions ● Create working glove Nov 20 th - Dec 4 th: ● Connect fingers to glove ● Finalize the code the glove sensors to fingers ● Prepare/critique end of semester final presentation

Questions Comments Concerns?