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2.1������ 2000-2001
Gateway Coalition Team Members |
10 |
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10.1��� Control Modes |
64 |
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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 |
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A.7����� Supplier
Information |
72 |
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E.1����� Controller
Mode Setup |
94 |
|
E.2����� Router Board
Output Hookup |
106 |
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F.1����� Motor Testing Data Table |
115 |
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AD.1�� Elbow
Revision Bill of Materials |
158 |
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1.1������ 1996-1997 Final Design |
2 |
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1.2������ Ohio State�s 1997-1998 Initial Design |
3 |
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1.3������ 1997-1998 Final Design (Folded
Position) |
3 |
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1.4������ 1997-1998 Final Design (Extended
Position) |
3 |
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1.5������ 1998-1999 Initial Design |
4 |
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1.6������ 1998-1999 Final Design |
5 |
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1.7������ 1999-2000 Final Design |
6 |
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1.8������ 2000 Graduate Student Design |
7 |
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3.1 ����� Arm Mounted on Wheelchair Frame |
13 |
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3.2 ����� Home Position |
13 |
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3.3 ����� Reaching Below the Floor |
13 |
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3.4 ����� Same Position but Different Orientation |
13 |
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3.5 ����� Exploded View of Arm |
15 |
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3.6 ����� Shoulder Twist and Bend |
14 |
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3.7 ����� Elbow Bend |
16 |
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3.8������ Wrist Twist and Bend |
16 |
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4.1 ����� Rear Mounting Bracket |
18 |
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4.2 ����� Front and Rear Mounting Brackets |
19 |
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4.3 ����� Stationary Plate |
19 |
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4.4 ����� Complete Base with Motors |
20 |
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4.5 ����� Cutaway of Stationary Plate and Bearing
Assembly |
21 |
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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 |
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4.9 ����� New Rear Mounting Bracket with Twist
Motor |
24 |
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4.10 �� New Base Assembly |
24 |
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4.11 �� Drive Pulley |
25 |
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4.12 �� Twist Pulley |
25 |
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4.13 �� Cutaway of New Twist Bearing Assembly |
26 |
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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 |
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5.1 ����� Shoulder Bend Motor |
29 |
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5.2 ����� Left and Right Shoulder Mounting
Brackets |
30 |
|
5.3 ����� Shoulder Shaft |
30 |
|
5.4 ����� Arm Plate from 1999-2000 Design |
31 |
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5.5 ����� Lower Arm Tube |
31 |
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5.6 ����� Preliminary and Final Shoulder Joint
Designs |
31 |
|
5.7 ����� Exploded View of Shoulder Joint |
32 |
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5.8 ����� Preliminary Elbow Motor without Encoder |
33 |
|
5.9 ����� Elbow Motor Mounting Block |
34 |
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5.10 �� Elbow Motor Assembly |
35 |
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5.11 �� Elbow Motor Mounted at Angle |
35 |
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5.12 �� Elbow Shaft and Gear Assembly |
36 |
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5.13 �� 2000 Graduate Student Elbow Bracket |
37 |
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5.14��� New Elbow Bracket |
37 |
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6.1 ����� Preliminary Forearm Tubing with Offset
Wrist Motors |
38 |
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6.2 ����� Final Forearm Tubing with Parallel Wrist
Motors |
39 |
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6.3������ Wrist Pillow Block and Bearing |
40 |
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6.4������ Wrist Differential |
40 |
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7.1 ����� Fearon's Final Gripper Design |
42 |
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7.2 ����� Fearon's Solid Edge Model |
43 |
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7.3 ����� Closing Sequence of Underactuated System |
43 |
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7.4 ����� 1999-2000 Final Assembly |
44 |
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7.5 ����� Comparison of Old/New Motors |
45 |
|
7.6 ����� Motor and Differential Plates |
46 |
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7.7 ����� Physical Closing Sequence of the Gripper |
47 |
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7.8������ Final Solid Edge Gripper Assembly |
48 |
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8.1������ Firestorm 18V Drill Motor and
Accessories |
53 |
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8.2������ Motor Test Stand |
54 |
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8.3������ Shaft |
54 |
|
8.4������ Test Setup Magtrol HD-710 |
54 |
|
8.5������ Power Input Wiring to Magtrol HD-710 |
55 |
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8.6������ Damaged Dynamometer Control Board |
56 |
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8.7������ Drill Motor Torque-Speed Curve |
57 |
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9.1������ OOPic microcontroller |
58 |
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B.1����� Schematic for Torque Calculations |
74 |
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B.2����� Planetary Gear Train Free Body Diagram |
77 |
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C.1����� Kinematic Model |
78 |
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E.1����� Control Box |
93 |
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E.2����� Amplifier Box |
94 |
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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 |
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AD.1�� Cutaway View of Redesigned Elbow Joint |
157 |
|
AD.2�� Final Redesigned Elbow |
157 |