Robotic Backhoe with Haptic Display Project goals System

Robotic Backhoe with Haptic Display • • • Project goals System concept Component selection Hydraulic circuit Modeling Kinematic simulation

Project Goals Purpose of today’s visit is to determine the project goals! Perceived Goals: • • • Apply haptic user interface to backhoe control Design cost-effective system Increase operator efficiency Demonstrate proof-of-concept Integrate GPS with kinematic positioning for vehicle guidance, avoiding hazards

Robotic Backhoe System Concept Desired bucket position (force input) Joystick w/haptic Display Joystick position Valve command signals Hydraulic oil flow Valves Controller Backhoe Haptic forces Pressure Sensors Pressure measurements Position Sensors Joint angle measurements Cylinder pressures Joint angles Bucket position

Component Selection Parts tentatively selected thus far: • Joystick w/Haptic Display – Phase 1: Personnel Haptic Interface Mechanism (PHANTOM) – Phase 2: Industrial grade active joystick • Valves – Parker-Hannifin D 1 FT Proportional Solenoid Valve, or – HUSCO Electro-hydraulic Poppet Valve (EHPV) • Sensors – 2 -axis accelerometer tilt sensors, or – Angle encoders – Pressure sensors? • Controller – PC-104 running Matlab/Simulink and x-PC Target

Hydraulic Circuit Boom Stick Bucket Swing A B from existing system P to existing system T M P A P A T B T B

Operator Joystick Modeling Controller Valves Cylinders Backhoe Soil

Kinematic Simulation

Kinematic Simulation