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Remote Robot Arm ManipulationMechatronics Presentation
Imran Ahmed
Sookram Sobhan
Omar Ramos
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Presentation Outline• Applications• Advantages• Project Specifications• Hardware• Software • Block Layout• Economic Analysis• Conclusion
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Applications
• Hazardous Material• Security (moving remote cameras)• Medical Applications• Undersea / Space Exploration
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Advantages
• Works on any Local Area Network• Can be extended globally across the
internet• Can be extended to wireless (802.11)• Can be controlled by anyone with a PC or
with a joystick and small program
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Project Specifications• Microcontroller
– BS2p40– 32 I/O pins
• Embedded Ethernet Controller– 10baseT Ethernet connection (10Mb)– 16 pins
• User Interface– USB Joystick– Graphical Display of Joystick Values (C++ MFC
program)– Web-based control using VBScript and Web cam
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Project Specifications continued• Robot Arm
– Three Degrees of Freedom– DC Motors– Constructed using LEGO Mindstorms components
• Motor Control– Full H-Bridges Constructed using MOSFETs and
BJTs– Inverter Circuits– Diodes for protection against inductive kickback
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Robot Arm – Base
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Robot Arm - Joint
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Robot Arm – Gripper
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Motor Control
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Motor ControlBJT Full H-Bridge MOSFET Full H-Bridge
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Motor Control
Inverter
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Embedded Ethernet Controller
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Joystick
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C++ Code Sample – Checking Values
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C++ Code Sample - Packetize
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PBasic Code Sample – Reading Packets
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PBasic Code Sample – Checking Values and Pulsing Motors
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VBScript Code
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Block Layout
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Economic Analysis
20.00Power Supplies
100.00Web Camera
30.00Joystick
25.00Transistors
190.00BS2p40 Kit
75.00Embedded Ethernet Controller
Retail Price (USD)
Total Cost for Prototype: $440.00
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Conclusion
• Prototype was successful• Improvements
- Feedback on Gripper- Pulse Width Modulation on Motors- 555 Timers (move in more than one direction at the same time)