P09029 – Robotic Hand Improvement
Casey Dill(ME), A.J. Connors(EE), Andrew Torkelson(ISE)
Faculty Guide – Dr. Kathleen Lamkin-Kennard
February 12, 2009
Revision 4
Risk
Level
Status/Contingency
No air muscles can meet specs
Previous generation's design for air muscles cannot be
scaled up properly
High
Air muscles cannot provide enough displacement
Med
Air muscles can be purchased from www.shadowrobot.com
Purchase commercial air muscles, which have been shown to reach larger
sizes
change placement of muscles off of arm) or use a different method of
motions (i.e. stepper motor)
Air muscles break/fail/rupture/explode during use
High
have backup / make more
Arm cannot support own weight
High
Use larger/more air muscles.
Arm cannot support additional loads
Med
Use larger/more air muscles.
Insufficient movement (range of motion)
Med
CAD model shows that the range can be achieved
Cannot achieve a degree of freedom (i.e. wrist rotation) Low
MedModel cannot render at pace with control system
High
CAD model shows that the range can be achieved
Med
Control system cannot achieve specified accuracy
Med
Control system cannot interface with SolidWorks
High
Control system cannot interface with prototype
Med
Computers in the labs have been fast enough to render moving models
Create an ad-hoc interface (via SolidWorks macros or other means)
 7 DOF (wrist, forearm,
elbow, shoulder)
 Ranges of motion are near
that of human
 Uses air muscles; can lift
about 58 lbs.
 Meant for therapy, not
independent motion
 Provides 145° elbow
flexion, 80-90° supination,
and 50-80° pronation
 Turns arm with “chopstick
action”
*Also features -5
elbow extension
 Features elbow w/ 280° of
bend, and wrist w/ 360° of
twist + 300° of bend
 Weighs 30 lbs. and lifts 3 lbs.
 0.5 m/s movement speed
 Also an iterated project
 http://www.shadowrobot.com/hand/techspec.shtml
 http://zone.ni.com/devzone/cda/tut/p/id/6183
 http://www.robotcub.org/misc/papers/07_Tsagarakis
_Caldwell.pdf
 http://ieeexplore.ieee.org/ielx5/4279972/4279973/0
4280069.pdf?tp=
 www.engineering.wright.edu/~jmenart/sdesign/128-00_Presentation-final.ppt
Short video of the mechatronics toolkit in use
http://www.ni.com/niweek/2008/keynote/simulation_w
ith_solid_works_and_motion.htm
Second Video
Cosmos Motion and Labview
Special Considerations
•Materials needed will vary depending on what’s left
over from P08023
•Similar parts and materials will be used form
P08023 for constancy between the iterations and
because they have been tried and tested
•Exact budget details are still not known
Part
Cost
PC
USB Cables
DAQ
Relay Board
Relays
Slide Potentiometers
$ 1,000.00 each
$
5.00 each
$
60.00 each
$ 100.00 each
$
5.00 each
each
Rotary Potentiometers
Wire
Transformers
Solenoids
$
$
$
$
10.00 each
5.00 100ft.
25.00 each
20.00 each
Aluminum Block
Pneumatic Tubing
Pneumatic Fittings
$
38.46 per foot
Manifold
Air Tanks
Various Nuts & Bolts
Bearings
Flow Control Valves
$
17.00 each
$
Unit
Qty
Total
Manufacturer
Electrical Systems
0$
- McMaster
1$
5.00 McMaster
0$
- McMaster
1 $ 100.00 McMaster
8$
40.00 McMaster
0$
- McMaster
4$
40.00 McMaster
1$
5.00 McMaster
1$
25.00 McMaster
8 $ 160.00 McMaster
Mechanical Systems
1$
38.46 Online Metals
??
??
1$
2??
$
2$
8
7.83 each
$3 each
Total
17.00 Roessel
25.00 McMaster
15.66 McMaster
$24 Global Spec
471.12
Website
Notes
www.mcmaster.com
www.mcmaster.com
www.mcmaster.com
www.mcmaster.com
www.mcmaster.com
www.mcmaster.com
Provided
Provided
www.mcmaster.com
www.mcmaster.com
www.mcmaster.com
www.mcmaster.com
www.onlinemetals.com
http://www.wirecare.com
http://www.mcmaster.com
http://www.roessel.com/
www.mcmaster.com
www.mcmaster.com
http://www.globalspec.com
2"x3" bar