improved robotic arm for sensitivity characterization of occupancy sensors will hedgecock brian...
TRANSCRIPT
![Page 1: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/1.jpg)
Improved Robotic Arm for Sensitivity Characterization
of Occupancy Sensors
Will HedgecockBrian Auerbach
John Sullivan
![Page 2: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/2.jpg)
Project Requirements
• Controlled movement through 90° of an arc in one second
• Vertical and horizontal movement, but not simultaneously
• Arm mounted exactly 36” above floor surface on a movable cart
• Remote control (>50 ft.) via a PC
• Exactly 15” of heated area on an 18” arm
• Adjustable temperature control with the range 80 to 120 degrees Fahrenheit, accurate to within 2 degrees Fahrenheit
![Page 3: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/3.jpg)
Previous Project Problems
• Heating element did not emit IR waves within a satisfactory range of an actual human arm
• Heating element did not emit IR waves uniformly through space
• Robotic arm shook violently when starting and stopping movement
• Servo motors overheated when holding robotic arm at 90° angle with floor for an extended amount of time
• Robotic arm did not always respond to UI key presses, resulting in the necessity of multiple key presses to create robotic arm movement
![Page 4: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/4.jpg)
New Project Improvements
• Use of heating element which emits in the proper IR range, matching that of a human arm
• Implementation of heating element such that there are no gaps spatially in the emitted IR waves; i.e. must emit uniformly
• Use motors with enough torque to start and stop motion of robotic arm without jerking or causing other undesired movements
• Use motors which will not overheat when holding the robotic arm at 90° for an extended period of time
• Ensure that key/button presses will always result in the intended motion of the robotic arm
![Page 5: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/5.jpg)
Heating Options
IR-Emitting LEDs
Spray-On Emitter
Tungsten Wire
![Page 6: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/6.jpg)
Infrared LEDs
• Extremely directional
• Emits IR wavelengths on the scale of nanometers• We require micrometers• Human IR emission ≈ 9.4
μm
• Difficult to arrange cylindrically such that they emit a uniform IR spectrum, leaving no gaps between emissions
![Page 7: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/7.jpg)
Tungsten Wire
• Must be EXTREMELY hot in order to emit in necessary IR range
• Moderately priced
• Can be wrapped around a cylindrically-shaped arm
• Easy to “kink” wire, causing it to break
![Page 8: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/8.jpg)
Spray-On Emitter
• Easy to apply to arm
• Possibility of needing re-applications
• Needs to be researched more
![Page 9: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/9.jpg)
Motor Advantages/Disadvantages
Servo Motors Stepper Motors
Constantly actuated Position stable
Less torque More torque
No position holding mode
Easy position determination & holding
![Page 10: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/10.jpg)
Microcontroller Requirements
• Must output appropriate voltage to drive stepper motor drivers
• Must have enough outputs to drive horizontal and vertical motors, as well as motors for Turntable project
• Must have an Ethernet-capable receiver/transmitter as well as a UART for connections to/from robotic arm and/or turntable
• Must be programmable to be interrupt-driven
• Possibility: PIC18F97J60Memory Type
Program Memory
RAM I/O Pins
Pin Count
CPU Speed
Digital Communications
Ethernet Timers Operation Voltage
Flash 128 kB 3808 70 100 42 MHz 2 USART2 MSSP
10Base-T 2 x 8-bit3 x 16-bit
2V – 3.6V
![Page 11: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/11.jpg)
Tentative Schedule
ID Task Name Duration Start Finish Predecessors
1 Project Start 1 day Mon 10/15/07 Mon 10/15/07
2 Mechanical Design 39 days Sun 12/9/07 Wed 1/30/08
3 Arm Development 39 days Sun 12/9/07 Wed 1/30/08
4 Specify Arm Dimensions & Torque 1 day Sun 12/9/07 Mon 12/10/07 1
5 Create Arm Mechanical Drawings 1 day Tue 12/11/07 Tue 12/11/07 4
6 Choose Motors 3 days Sun 12/9/07 Wed 12/12/07 1
7 Choose Materials 2 days Wed 12/12/07 Thu 12/13/07 1
8 Procure Parts & Materials 10 days Fri 12/14/07 Thu 12/27/07 5,7
9 Construct Arm 2 days Mon 1/14/08 Tue 1/15/08 8
10 Attach Arm to Cart 1 day Wed 1/30/08 Wed 1/30/08 9,16
11 Cart Development 13 days Mon 1/14/08 Tue 1/29/08
12 Specify Dimensions & Requirements 1 day Mon 1/14/08 Mon 1/14/08 5
13 Create Cart Mechanical Drawings 1 day Tue 1/15/08 Tue 1/15/08 12
14 Choose Cart 1 day Wed 1/16/08 Wed 1/16/08 13
15 Procure & Modify Cart 1 day Mon 1/28/08 Mon 1/28/08 14
16 Assemble Cart 1 day Tue 1/29/08 Tue 1/29/08 15
10/15M T W T F S S M T W T F S S M T W T F S S
Sep 30, '07 Oct 21, '07 Nov 11, '07 Dec 2, '07 Dec 23, '07 Jan 13, '08 Feb 3, '08 Feb 24, '08 Mar 16, '08
![Page 12: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/12.jpg)
Tentative Schedule (cont.)
ID Task Name Duration Start Finish Predecessors
17 Electrical Design 28 days Sun 12/9/07 Wed 1/16/08
18 Choose Microcontroller 3 days Sun 12/9/07 Fri 12/14/07 6
19 Choose Power Supply 1 day Fri 12/14/07 Mon 12/17/07 6,18
20 Create Functional Diagram 1 day Fri 12/14/07 Mon 12/17/07 18
21 Procure Parts, Cables, and Tools 10 days Mon 12/17/07 Mon 12/31/07 20
22 Assemble Circuits and Electronics 3 days Mon 1/14/08 Wed 1/16/08 21
23 Heater Design 38 days Wed 11/28/07 Fri 1/18/08
24 Choose Heating Element 15 days Wed 11/28/07 Tue 12/18/07 1
25 Choose Control Interface 2 days Wed 12/19/07 Thu 12/20/07 24
26 Procure Parts & Materials 10 days Fri 12/21/07 Thu 1/3/08 25
27 Assemble Heating System 1 day Mon 1/14/08 Mon 1/14/08 26
28 Install Heating System 3 days Wed 1/16/08 Fri 1/18/08 9,27
29 Software Design 80 days Tue 10/16/07 Fri 2/1/08
30 Choose Microcontroller Language 1 day Wed 12/19/07 Wed 12/19/07 18
31 Choose Microcontroller Compiler & Tools 1 day Thu 12/20/07 Thu 12/20/07 30
32 Choose GUI Language and Development Tools 1 day Tue 10/16/07 Tue 10/16/07 1
M T W T F S S M T W T F S S M T W T F S SSep 30, '07 Oct 21, '07 Nov 11, '07 Dec 2, '07 Dec 23, '07 Jan 13, '08 Feb 3, '08 Feb 24, '08 Mar 16, '08
![Page 13: Improved Robotic Arm for Sensitivity Characterization of Occupancy Sensors Will Hedgecock Brian Auerbach John Sullivan](https://reader036.vdocuments.mx/reader036/viewer/2022062519/5697bfd41a28abf838caca63/html5/thumbnails/13.jpg)
Tentative Schedule (cont.)
ID Task Name Duration Start Finish Predecessors
33 Define Necessary Functionality 1 day Tue 10/16/07 Tue 10/16/07 1
34 Design GUI Layout 1 day Wed 10/17/07 Wed 10/17/07 32
35 Write GUI Code 15 days Thu 10/18/07 Wed 11/7/07 34
36 Write Microcontroller Code 10 days Sun 1/20/08 Thu 1/31/08 31
37 Implement Microcontroller Code 1 day Fri 2/1/08 Fri 2/1/08 36,21
38 Testing 32 days Sun 1/20/08 Sun 3/2/08
39 Test Arm 1 day Wed 2/6/08 Wed 2/6/08 10
40 Test Code 1 day Mon 2/4/08 Mon 2/4/08 35,37
41 Test Heating System 1 day Sun 1/20/08 Sun 1/20/08 28
42 Create Test Environment 5 days Mon 2/18/08 Fri 2/22/08 1
43 Test Final Prototype 1 day Sun 3/2/08 Sun 3/2/08 39,40,41,42
44 Documentation 5 days Sun 3/9/08 Thu 3/13/08
45 Mechanical Documentation 5 days Sun 3/9/08 Thu 3/13/08 10,16
46 Electrical Documentation 5 days Sun 3/9/08 Thu 3/13/08 22
47 Software Documentation 5 days Sun 3/9/08 Thu 3/13/08 35,36
48 Heating Documentation 5 days Sun 3/9/08 Thu 3/13/08 28
49 Project Complete 1 day Fri 3/14/08 Fri 3/14/08 43,45,46,47,48 3/14
M T W T F S S M T W T F S S M T W T F S SSep 30, '07 Oct 21, '07 Nov 11, '07 Dec 2, '07 Dec 23, '07 Jan 13, '08 Feb 3, '08 Feb 24, '08 Mar 16, '08