3. Hands OnTechnologies
• T.A.M.M.I. is a motion controlled robotic arm that is capable of mimicking the human
arm as close as technically possible considering today’s known technology.
• Motivation: Given the hazards of the global environment and the United States’
involvement in actions around the globe, T.A.M.M.I. is conceptually geared towards the
mission of defending those who defend us.
• Perspective: An inexpensive, rugged arm that can be easily transported to a site within
a dangerous environment. The arm itself will be designed using lightweight composite
materials that, should damage occur, can easily be replaced due to the modular design
of the arm.
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4. Reduced Risks
• T.A.M.M.I. can function in
situations where it is hazardous
for humans to be
• T.A.M.M.I. will be able to function
where it will be unhealthy for
humans
• Human involvement becomes
limited, reducing the chance for
injuries
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5. HowT.A.M.M.I. got to the Next Level
• Durability is one of the main focuses
• Durability is an essential feature of the arm
• Compatibility and easily interchanging
parts make the arm modular
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6. T.A.M.M.I.’s Uses
Military
• Will be used for bomb diffusion
and removal
• Repairs can be made to machines
at no risk of bodily harm
• Can be operated for heavy
weapon defenses from safe
bunkers
• Veterans that sacrificed will be
able to walk and hold their loved
ones again
Commercial
• Waste disposal becomes less risky
for dumpers
• HAZMAT can use it in high-risk
situations
• Heavy lifting can be accomplished
without hurting the workforce
• Intricate building can be done
without shaky hands meaning
more product can be made
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7. T.A.M.M.I.’s Uses Continued
Medical Field
• More surgeries can be done
laparoscopically, increasing
success
• Prosthetics will be able to move
as a human arm would
• Doctors could see more patients
at once using preset procedures
Personal Use
• The arm could be used to make
more sophisticated smart houses
that could do chores for its
owners
• House repairs in suboptimal
conditions could be completed
easily
• Heavy lifting and installation of
objects could be completed
without hiring an entire crew
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8. T.A.M.M.I.’s Features
The Hardware
• Built to be durable
• Three prong hand has more grip
than its two prong counterparts
• Entire design is modular
• Movement and functionality is
fluidly
The Software
• Motion sensor copies an actual
arms movements and send it to
the robotic arm
• Motion sensor talks well with the
arm with negligible delays
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9. Typical Prices of Alternate Products
• LT2/F: “Bulldog”
• Global Securities: “Matilda”
• HD2: “Mastiff”
$20,500.00
$25,000.00
$27,000.00
Price of Production of the Hands on Robot
Item Number Price: :
Servos: 9 $200.00
Exoskeletons: 5 $75.00
Brackets: 15 $80.00
Machined Metal: $70.00
Tools: $50.00
Wires: 10 $10.00
Arduino MCU: 1 $30.00
Total: $515.00
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10. T.A.M.M.I.’s Features
“Bulldog”
• The least expensive alternative
that can be bought right now is
$20.5K
• This is 41 times above the
building cost ofT.A.M.M.I.
• This is 20.5 times above the
selling cost
T.A.M.M.I.
• T.A.M.M.I. cost around $500 to
make and has an estimated price
of $1,000
• Hands OnTechnologies can sell
20 arms for less than 1 “Bulldog”
• Profit will be made after 2 sales
• If 20 arms are sold, a profit of
$10,000 is made
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11. Return on Investment
• Estimated Cost of parts for the Entire System: $500.00
• A low cost structure and rugged will pay for itself in
approximately 2 months if used in a hostile environment.
• Cost of ownership for solution for 1st year = $1500.00
between buyingT.A.M.M.I. and purchasing replacement
parts.
• Break even in 6 months. Revenue generated upon actual
use in a hostile environment.
• Not necessarily. Monetary Revenue is generated upon
purchase, but “that warm & fuzzy feeling” is what you are
describing here
• Not sure how to fix, suggestions would be fantastic
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12. SYSTEM: COST AND UNIT FUNCTION
Component Description Use cost
HS-805BB Servo motor Shoulder rotation $35
31311S Hi-Tec servo motor Arm joints $10
31081S Hi-Tec sub-micro servo
motor
Wrist rotation $13
RCD 33755S Hi-Tec Karbonite Giant-
Scale Servo Motor
Rotating Base (Main choice) $30
HS-422 Servo motor Rotating base (alternative 1) $30
RCD 31422S Deluxe Servo Rotating base (alternative 2) $12
Leap Motion Controller Leap Motion Controller Motion detection $68
Arduino Uno R3 Board Arduino Uno
Microcontroller
Microcontroller $20
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13. PHYSICAL DESIGN AND STRUCTURE
• The structure was designed to be
both modular and rugged.
• The structure itself is composed of
zinc-aluminum threaded rods that
are sheathed in thin aluminum
guards.
• The end plates are common heavy
duty plastics capable of being found
at any local hardware store.
• The Servo blocks provide greater
structural integrity and gives a
steady base to rotate from.The
bearing allows for a freedom of
rotation that the servo alone cannot
provide.
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14. Characteristics of the Arm
• Designed around the human arm From
the degrees of rotation to the structure
of the skeleton
• Shown here we have the shoulder
constructed with three servos that allow
for similar range of motion to biological
shoulder.
• The elbow which has more between 10-
15 degrees more range of motion
rearward.
• Which includes a wrist and hand
assembly.While the final design
implemented will have a 0-176 degree z-
axis rotation.
• With this in mind we have always had
the human body as a concept since the
users will have an already easy
familiarity when dealing with the
controls. 14
15. TAMMI’s Evolution
Original Ideas
• Always meant to be rugged and
durable
• Were going to have only one or
two servos for the shoulder
• Claw hand was planned with
limited wrist movement
Added Expansions
• Added extra joint brackets to
increase stability from rapid
movement
• Gave the shoulder three servos
for complete range of motion
• Three prong hand replaced claw
with full rotational movement
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16. Work Schedule Break Down
ID Activity Description Deliverables/
Checkpoints
Dur.
(days)
People Resources
1 Rough Design Complete Detailed
Rough Draft of
Design
Several Sketches of
concept
14 Shawn PC
2 Purchase
components
Identify parts
Place order
Receive parts
24 Jack
Anthony
PC
Local Business
3 Fabricate
components
Begin metal working 12 Jack Aluminium
Metal Shop
4 Begin wiring Create any wires
necessary for
soldering
Order wires
Cut wires
Solder wires
5 Jack
Melissa
Lab
Soldering Iron
5 Build Skeleton Build to scale the
prototype
Fasten components
troubleshoot
14 Jack
Melissa
Shawn
Anthony
Nuts
Bolts
Hand tools
6 Test electronic
components
Test all servos
Create a wire harness
15 Jack
Shawn
Multimeter
Power supply
7 Apply Wiring
Harness to
Skeleton
Fasten wiring loom to
arm
Test minute functionality
5 Jack
Melissa
Wire cutters
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17. Project Roadmap
Weeks 1-3:
Brainstorming/Product
Description
Weeks 3-5: Benefits,
Functionality, Begin Material
Inventory
Weeks 5-7: Price Inventory,
and Begin Rough Software
and Hardware Designs
Weeks 7-9: Mechanical and
Technical Design Rough Drafts
Weeks 9-11: Final Design
Weeks 11-13 :Physical
Hardware Adaptation to
Design
Weeks 13-15: Fabrication of
Physical Design
Weeks 15-17: Decide on Final
Inventory , and Final Device
Measurements
Weeks 17-19: Functional Sweep
of the Hardware and Physical
Layer Integration
Weeks 19-21: Software
Compiled/ Functional
Hardware Tests
Weeks 21-24: Working
Prototype
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19. Leap Motion Controller
• The Leap motion
controller is a unique
control system for robotic
implementation.
• Very few teams have
used it but with the new
firm and software updates
it fits our needs nicely.
• As it stands the
hemisphere of activity is:
• 180 degrees along the x-
axis
• 90 degrees from origin
along the y-axis
• 180 degrees along the z-
axis
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22. Hardware Sub-System Description
• Designed around a six servo system
• Arduino Uno 3 Micro Controller
• Leap: Motion Controller Unit
• Complimented with 3 PL-Mod Shields
• Customized Wiring Harness
• STP Wiring
• 9-Volt Power Source in Form of Battery
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23. Physical Sub-System Description
• Created from Rolled Aluminum
• Low cost easily obtained components
• Nuts/Bolts/Washer Assembly
• All Connectors are the same dimensions for easy
assembly/disassembly
• Rugged meant to be banged up.
• Modular in Design
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24. Project Constraints
• Due to the nature of the materials used in construction our greatest enemy
will be noise.
• Limited Budget
• Limited Time
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