grabot by krithika rangarajan megha shah mahendran ravichandran prakash subramanian viswaath ganesan...
TRANSCRIPT
Grabot
By Krithika Rangarajan
Megha ShahMahendran Ravichandran
Prakash SubramanianViswaath 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 Compressor
Air Muscle
Mechanical Motion
Main components used
Air MuscleVR Stamp ModuleSolenoid ValvesTelescopic armGrabber
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
responseCan be operated even when twisted
axially and need to precise aligningProduce an incredible force especially
when full stretchedWorks 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 PULLEY 1
HOLDER 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 PandyaTeam of 3 Dimensional Services:
Mr. Vince Brown
Mr. Mike Finta & group
References
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