LIST OF TABLES AND FIGURES

 

TABLES

 

1.1       Previous Attempts at Marketing Robotic Arms

9

2.1       2000-2001 Gateway Coalition Team Members

10

8.1       Power Consumption of Typical Appliances

50

10.1    Control Modes

64

A.1      Shoulder, Lower Arm, and Forearm Raw Materials Costs

67

A.2      Shoulder, Lower Arm, and Forearm Component Costs

68

A.3      Shoulder, Lower Arm, and Forearm Machining Costs

68

A.4      Gripper Bill of Materials

69

A.5      Controls Bill of Materials

70

A.6      Summarized Cost of Arm

71

A.7      Supplier Information

72

E.1      Controller Mode Setup

94

E.2      Router Board Output Hookup

106

F.1      Motor Testing Data Table

115

AD.1   Elbow Revision Bill of Materials

158

 

 

FIGURES

 

1.1       1996-1997 Final Design

2

1.2       Ohio State’s 1997-1998 Initial Design

3

1.3       1997-1998 Final Design (Folded Position)

3

1.4       1997-1998 Final Design (Extended Position)

3

1.5       1998-1999 Initial Design

4

1.6       1998-1999 Final Design

5

1.7       1999-2000 Final Design

6

1.8       2000 Graduate Student Design

7

 

 

3.1       Arm Mounted on Wheelchair Frame

13

3.2       Home Position

13

3.3       Reaching Below the Floor

13

3.4       Same Position but Different Orientation

13

3.5       Exploded View of Arm

15

3.6       Shoulder Twist and Bend

14

3.7       Elbow Bend

16

3.8       Wrist Twist and Bend

16

 

 

4.1       Rear Mounting Bracket

18

4.2       Front and Rear Mounting Brackets

19

4.3       Stationary Plate

19

4.4       Complete Base with Motors

20

4.5       Cutaway of Stationary Plate and Bearing Assembly

21

4.6       Shoulder Twist Motor

22

4.7       New Stationary Plate

23

4.8       Bottom of Stationary Plate with and without the Twist Motor

23

4.9       New Rear Mounting Bracket with Twist Motor

24

4.10    New Base Assembly

24

4.11    Drive Pulley

25

4.12    Twist Pulley

25

4.13    Cutaway of New Twist Bearing Assembly

26

4.14    Cutaway and Exploded View of Bearing Assembly

27

4.15    Complete Redesign Base Assembly

27

4.16    Exploded View of Base Assembly

28

 

 

5.1       Shoulder Bend Motor

29

5.2       Left and Right Shoulder Mounting Brackets

30

5.3       Shoulder Shaft

30

5.4       Arm Plate from 1999-2000 Design

31

5.5       Lower Arm Tube

31

5.6       Preliminary and Final Shoulder Joint Designs

31

5.7       Exploded View of Shoulder Joint

32

5.8       Preliminary Elbow Motor without Encoder

33

5.9       Elbow Motor Mounting Block

34

5.10    Elbow Motor Assembly

35

5.11    Elbow Motor Mounted at Angle

35

5.12    Elbow Shaft and Gear Assembly

36

5.13    2000 Graduate Student Elbow Bracket

37

5.14    New Elbow Bracket

37

 

 

6.1       Preliminary Forearm Tubing with Offset Wrist Motors

38

6.2       Final Forearm Tubing with Parallel Wrist Motors

39

6.3       Wrist Pillow Block and Bearing

40

6.4       Wrist Differential

40

 

 

7.1       Fearon's Final Gripper Design

42

7.2       Fearon's Solid Edge Model

43

7.3       Closing Sequence of Underactuated System

43

7.4       1999-2000 Final Assembly

44

7.5       Comparison of Old/New Motors

45

7.6       Motor and Differential Plates

46

7.7       Physical Closing Sequence of the Gripper

47

7.8       Final Solid Edge Gripper Assembly

48

 

 

8.1       Firestorm 18V Drill Motor and Accessories

53

8.2       Motor Test Stand

54

8.3       Shaft

54

8.4       Test Setup Magtrol HD-710

54

8.5       Power Input Wiring to Magtrol HD-710

55

8.6       Damaged Dynamometer Control Board

56

8.7       Drill Motor Torque-Speed Curve

57

9.1       OOPic microcontroller

58

 

 

B.1      Schematic for Torque Calculations

74

B.2      Planetary Gear Train Free Body Diagram

77

 

 

C.1      Kinematic Model

78

 

 

E.1      Control Box

93

E.2      Amplifier Box

94

E.3      Basic Signal Flow Chart

95

E.4      Control Circuit Schematic

96

E.5      Control Module Circuit - Top

96

E.6      Control Module Circuit - Bottom

97

E.7      Router Board Schematic

101

E.8      Router Board - Top & Bottom

102

E.9      H-bridge - Top & Bottom

102

E.10    H-bridge Schematic

103

E.11    Resistor Block

104

E.12    Control Box, Amplifier Box, H-bridge Stack

105

E.13   Amplifier Box Internal Power Connector

106

 

 

AD.1   Cutaway View of Redesigned Elbow Joint

157

AD.2   Final Redesigned Elbow

157