Table of Contents

 

ABSTRACT ii

ACKNOWLEDGEMENTS iii

TABLE OF CONTENTS iv

LIST OF TABLES AND FIGURES vii

TABLES vii

FIGURES vii

 

PROJECT HISTORY & OVERVIEW 1

1.1 GATEWAY COALITION PROGRAM BACKGROUND 1

1.2 1996-1997 DESIGN 1

1.3 1997-1998 DESIGN 2

1.4 1998-1999 DESIGN 4

1.5 1999-2000 DESIGN 5

1.6 2000 GRADUATE STUDENT DESIGN 6

1.7 MARKET ANALYSIS 7

 

COALITION DYNAMICS 10

2.1 PARTICIPANTS 10

2.2 COMMUNICATION TECHNIQUES 11

2.3 PROJECT TASK ASSIGNMENTS 11

 

2000-2001 ARM OVERVIEW 12

3.1 OBJECTIVES 12

3.2 DESIGN CONSTRAINTS 12

3.3 CONFIGURATION 13

3.4 TERMINOLOGY 14

3.5 PERFORMANCE HIGHLIGHTS 17

 

BASE 18

4.1 MOUNTING BRACKETS 18

4.2 BASEPLATE DESIGN 19

 

LOWER ARM 29

5.1 SHOULDER JOINT 29

5.2 LOWER ARM TUBE 31

5.3 ELBOW MOTOR 33

 

FOREARM 38

6.1 FOREARM TUBING 38

6.2 WRIST DIFFERENTIAL 40

 

GRIPPER 42

7.1 RESEARCH AND CONCEPTS 42

7.2 DESIGN AND ACTUATION 44

 

MOTOR TESTING 49

8.1 MOTOR RESEARCH AND SELECTION PROCESS 49

8.2 MOTOR TESTING 51

 

CONTROLS HARDWARE 58

9.1 MICROCONTROLLER 58

9.2 MOTOR CONTROLLER 59

9.3 ANGLE MEASUREMENT FOR CLOSED LOOP FEEDBACK 60

 

CONTROLS 61

10.1 KINEMATICS AND CONTROL STRATEGY 61

10.2 OOPIC AND CODE DEVELOPMENT 62

 

FUTURE CONSIDERATIONS 65

11.1 GENERAL 65

11.2 MOTORS 65

11.3 GRIPPER 65

11.4 CONTROLLER 66

 

APPENDIX A 67

A.1 - SHOULDER, LOWER ARM, AND FOREARM BILL OF MATERIALS 67

A.2 - GRIPPER BILL OF MATERIALS 69

A.3 - CONTROLS BILL OF MATERIALS 70

A.4 - SUMMARIZED COST OF ARM 71

A.5 - SUPPLIER INFORMATION 72

 

APPENDIX B 73

B.1 TORQUE CALCULATIONS 73

B.2 GEAR RATIO CALCULATIONS FOR FIRESTORM 18V DRILL MOTOR 74

 

APPENDIX C 78

C.1 KINEMATICS 78

C.2 MASTER OOPIC CONTROL CODE 81

C.3 SLAVE OOPIC CONTROL CODE 88

 

APPENDIX D 91

ELECTRICAL SCHEMATICS 91

 

APPENDIX E 92

E.1 ALTERNATIVE CONTROLS 92

E.2 INTRODUCTION AND GOALS 92

E.3 ASSUMPTIONS 92

E.4 CONTROL DESIGN GENERAL DESCRIPTION 93

E.5 CONTROLS DESIGN DETAILED DESCRIPTION 95

E.6 HARDWARE/CONSTRUCTION 105

E.7 CODE 108

E.7.1 HEADER FILE 108

E.7.2 MAIN PROGRAM 110

 

APPENDIX F 114

MOTOR TESTING PROCEDURE 114

 

APPENDIX G 116

PART DRAWINGS 116

 

REFERENCES 155

 

ADDENDUM 156

DESIGN MODIFICATIONS 156