Project Proposal 3 D Robotic Hand Continuation Southeastern

Project Proposal: 3 D Robotic Hand Continuation Southeastern Louisiana University 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 ● Finger proportions are off ● Not enough articulation ● Only one wire ● Flat design Solutions ● Redesign the fingers for better proportions ● Add additional cables to support movement ● Enable more degree of freedom Fingers and Joints

Issues ● The cables are stiff ● They are easily bended ● Develop memory bends over time Flexible cable that allows for push and pull force transmission Solutions ● Find a new 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 Solutions ● Redesign hand to resemble a human hand ● Smaller ● Add wire room and pathways Bowden Cable Design Wire Channels

Issues ● Easily stripped by the DC motors ● Takes up too much space Solutions ● Secure connection between screws ● Secure connection between the DC motors ● Compact the design DC Motors for Open and Close & Servos for Articulate Controls

Issues ● Sensor are not accurate enough ● Needs to be rewired ● Bend sensors are not secure ● Only supports open and close Solutions ● Add support for articulation ● 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

Issues ● Too many motor drivers ● Power consumption issues ● Raspberry Pi 1 does not have wireless functionality ● Old code Solutions ● Clean up wires in the circuit ● A microcontroller with wireless functionality ● Add a more efficient motor drive modular ● Write new code for added motions The Current Control of the Hand

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

Jace Babin will be working on the communication between the robotic hand the glove and writing the fingers articulation code. Responsibilities Andrew Brouillette will be working with the motors to control the movement of the hand help program the Raspberry Pi to control the hand 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 assembling the hand fingers and help code the new controls for the fingers.

Timeline Oct 5 th - 19 th: ● Research and design the fingers for more articulation ● 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?