CrabWise Innovations (Deliverable 1/27/13)

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  • Unfinished deliverables from previous deliverables period
  • 2 linkages (4th joint from proximal end) printed 10% densityScale?Other specs of print?Tested for viabilityMetal to plastic gluing (JB weld and …..)Drilling and Screwing (cracked with 10% density, worked well with 60% density)
  • Next Deliverables Period—Started just a little
  • Next Deliverables Period—started just a little
  • Next Deliverables Period
  • CrabWise Innovations (Deliverable 1/27/13)

    1. 1. CRABWISEinnovationsJanuary 7 – 29Deliverables
    2. 2. Nov 28-Dec 18Task 1: Understanding theproblem Immersion StoryInterview/observation In order to  Person with quadriplegianeeds of users of… understand…  DaVinci Surgery armshortcomings ofPerson with Quadriplegia Needs of users orthogonal systemsDaVinci Surgery Arm Shortcomings of orthogonal  TIRR wheelchairs (Monday, Jan systems 28)compatibility concernsTIRR Rehabilitation Center Compatibility with(Monday, Jan 28th) wheelchairs
    3. 3. Task 4a: Create linkages Linkages designed in SolidWorks
    4. 4. Task 4a: Create linkages Assembled joints in SolidWorks
    5. 5. Task 4b: Print and evaluateviability for construction2 linkages (1 joint) printed on 3-D printer Plastic deemed viable for construction
    6. 6. Task 5a: Research Actuators Specifications Actuator Dimension(in) Torque to Weight Position Choices <[1.3x0.8x1.2] ratio (oz) High SensingNema 8 Micro 5.7(@6v):2.82 Not built-inStepper 0.79x0.79x0.96 = (butmotor 2.02:1 accurate) 59.7(@6v):0.77 Built-inHS-5085MG 1.14x0.51x1.18 = positionalServo 77.53:1 feedback Built-inHS-5065MG 30.55(@6v):0.42 positionalServo 0.92x0.45x0.94 = feedback 72.73:1
    7. 7. Task 5b: Purchase and TestSelected Actuator Purchased Hitec HS- 5085 MG Servo Tested similar servo and potentiometer
    8. 8. Jan 30- Feb 19Task 6: Create Programming toControl the Arm Have begun learning arduino programming Created programming to control 1 servo and read 1 potentiometer
    9. 9. Jan 30- Feb 19Task 7: Construct and testprototype Works-like prototype of joint:  Models a hinge-connection method for joints of the arm  Tests servo mounting strategy  Allows a potentiometer to be used for positional feedback if required
    10. 10. Jan 30- Feb 19

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