Transcript Grabot - Wayne State University

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.
 Motion of the limbs are of crucial importance to
every human being
 The function of upper limbs is to hold ,grab and
move objects around.
 The arm we are building is to be straped around
the dominant arm and commands are to be
issued to perform necessary actions
Project Aims
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
Least number of motors to smoothen the
action of air muscle and again reduce
weight of motors as well as batteries
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
Air Muscle
VR Stamp Module
Solenoid Valves
Telescopic arm
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
Weighs on 10 grams (light weight)
No lag of time and has immediate
response
Can be operated even when twisted
axially and need to precise aligning
Produce an incredible force especially
when full stretched
Works as a soft actuator.
VR Stamp Module
Voice Recognition
 We use an embedded
RSC-4X
microcontroller chip
capable of voice
recognition.
 The microcontroller
comes in the form of a
embedded chip
capable of working as
a standalone micro
controller called VR
STAMP MODULE.
Voice Recognition cont…
Advantages
Noise-robust Speaker Independent (SI) and Speaker
Dependent (SD) recognition.
Low power Audio Wakeup from sleep
Microphone preamplifier
24 I/O lines
Low power requirements
• VDD = 2.70V – 3.6V
• IACT = 26mA @ 3V
• ISLEEP = <20uA @ 3V
Solenoid Valve
 SMC SY100 SERIES
Working temp: -10 to 50
deg C.
Response time 10 ms
Operating voltage -> 5V
Operating pressure ->
0 to 0.7 Mpa
Port size M3.
Working of solenoid valve
Grabber
 Strong Enough
to hold a 20 oz
Soda-Can
 Dexterous
Enough to grab
a Feather
Grabber Motor
 Stall Torque : 6.5
inch-pounds
 Free spin : 74 rpm at
7.5V
 Current Draw : 0.14
Amps to about 1.6
Amp. at stall per
Motor at 7.5V
Mechanical Design
MECHANICAL PARTS
PULLEY 2
HOLDER
PULLEY 1
GRABBER ATTACHMENT
CIRCUIT DESIGN
CIRCUIT DESIGN Cont..
GO
REVERSE
MUSCLE 1
MUSCLE 2
FUTURE ENHANCEMENTS
Telescopic arm has to be miniaturized.
Using multiple air muscles to make step by
step movements.
Using proportional valve to increase the
efficiency of the air muscle.
Making a lighter model of the arm using
some lighter material
Acknowledgement
Dr. Abhilash Pandya
Team of 3 Dimensional Services:
Mr. Vince Brown
Mr. Mike Finta & group
References

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www.Shadowrobot.com  air muscle
www.smcusa.com  solenoid valve
http://www.fas.ch/info_tech_voies.asp?sectionID=t&Langue=english')
www.sensory.com
www.vexlabs.com