CIS Humanoid HandCIS Humanoid Hand

Team Members:Team Members:

Tom Billings, Mike Stock, Scott Shugh, Tom Billings, Mike Stock, Scott Shugh, Ananya Majumder, Kit BuckleyAnanya Majumder, Kit Buckley

Polymorph Fingers Rapid Prototype Palm

TouchSensor

TouchSensor

TouchSensor

TouchSensor

TouchSensor

Touch Sensor Wires

Bi-Polar Stepper Motors

Touch Sensor(On back)

Microcontroller

Serial Connection

C++ Program in IMA2 architecture

Right Arm Agent (C++ source in IMA2 architecture)

Other ISAC component Agents (C++ source in

IMA2 archictecutre)

ISAC Control using DAD (Distributed Agent

Designer)

Driver

Driver

Driver

Driver

Overall Architecture

Tactile Sensors

Current StatusCurrent Status - Structural - Structural

PolymorphPolymorph3 hands have been made3 hands have been made

11stst generation generation One pieceOne piece Exterior cable guardsExterior cable guards

ProsPros No welded jointsNo welded joints Light weightLight weight

ConsCons Fabrication timeFabrication time Exterior guards weakExterior guards weak

22ndnd generation generation Digits fabricated individuallyDigits fabricated individually Bored holes through finger for cablesBored holes through finger for cables

ProsPros More attention to each pieceMore attention to each piece Secure cable routesSecure cable routes

ConsCons Too heavyToo heavy Palm is main jointPalm is main joint

Current StatusCurrent Status - Structural - Structural

Current StatusCurrent Status - Structural - Structural

33rdrd generation generation Same fabrication process as 2Same fabrication process as 2ndnd generation generation Lighter palmLighter palm

ProsPros Meets weight requirementMeets weight requirement

ConsCons Question sustainability of palm strengthQuestion sustainability of palm strength

Full Hand: Proposed StructureFull Hand: Proposed Structure

Composite design Composite design incorporating polymorph incorporating polymorph fingers with a rapid fingers with a rapid prototyped palm.prototyped palm.

Rapid Prototyped PalmRapid Prototyped Palm

Anticipated Cost - $20Anticipated Cost - $20 ProsPros

LighterLighter More detailedMore detailed RepeatableRepeatable Allows for interchanging Allows for interchanging

fingersfingers

ConsCons Less flexible if design Less flexible if design

changeschanges Cost relative to polymorphCost relative to polymorph

Touch SensorsTouch Sensors

Last time we Last time we were considering were considering force sensors.force sensors.

We have We have determined that determined that touch sensors touch sensors will be easier to will be easier to work with. work with.

Touch SensorsTouch Sensors

We have decided to use the TACT004 Standard We have decided to use the TACT004 Standard Tactile Switch ordered from futurlec.comTactile Switch ordered from futurlec.com

Cost: 30c/switchCost: 30c/switch Dimensions will allow the switch to be placed in Dimensions will allow the switch to be placed in

a small indentation made in the fingertip.a small indentation made in the fingertip.

Control CommunicationControl CommunicationParallelParallel

Only one interrupt lineOnly one interrupt linePermanent damage of motherboard could Permanent damage of motherboard could

resultresultPhased out interfacePhased out interface

MicrocontrollerMicrocontrollerMultiple interruptsMultiple interruptsStandalone applicationStandalone applicationSerial/USB outputSerial/USB output

Freescale Freescale

16-Bit HCS12XDT512 Student Learning Kit16-Bit HCS12XDT512 Student Learning Kit Each kit includes required hardware, CodeWarrior Each kit includes required hardware, CodeWarrior

Development Software, and informational CD. Development Software, and informational CD.

Highly documentedHighly documented Similar to ‘in-house’ Motorola microcontrollers Similar to ‘in-house’ Motorola microcontrollers

used in EECE 218 and EECE 276used in EECE 218 and EECE 276 $95$95

PICPICPCW Student Development KitPCW Student Development Kit

Includes:Includes:Student Version PCW IDE ComplierStudent Version PCW IDE Complier

Limited to PIC16F877A BoardLimited to PIC16F877A Board Allows programming in C or AssemblyAllows programming in C or Assembly

Intro to PICIntro to PIC©© C C and Examples and ExamplesNecessary hardwareNecessary hardware

Including: PIC16F77A BoardIncluding: PIC16F77A Board

and Breadboardand Breadboard

Cost: $149Cost: $149

EasyDriver v3EasyDriver v3Uses A3967 Driver ChipUses A3967 Driver Chip

Optimized by always stepping in 1/8Optimized by always stepping in 1/8 thth steps stepsSimplifies motor operation to 2 input pins Simplifies motor operation to 2 input pins

directing forward, backward, and no motiondirecting forward, backward, and no motionMax Current: 750 mAMax Current: 750 mA

Overheating issues whenOverheating issues when

approaching 750 mAapproaching 750 mA

30 V Output Rating30 V Output RatingPrice: $14.95Price: $14.95

Other Driver Options ExistOther Driver Options ExistL293D

• Output current of 600mA per channel

• Documentation available

• Listed as $2.75 each on digikey

Bi-polar Stepper MotorsBi-polar Stepper Motors MO-095MO-095

Holding torque = 0.068NmHolding torque = 0.068Nm Rated current = 750mARated current = 750mA Step Angle 1.8 degreesStep Angle 1.8 degrees $18$18

MO-097MO-097 Holding torque = 0.198NmHolding torque = 0.198Nm Rated current = 400mARated current = 400mA Step Angle = 1.8 degreesStep Angle = 1.8 degrees $22$22

MO-101MO-101 Holding torque = 0.343NmHolding torque = 0.343Nm Rated current = 500mARated current = 500mA Step Angle 1.8 degreesStep Angle 1.8 degrees $49$49

C/C++ Class Microcontroller

Wait StateFunction Call

Request

Acknowledge

Function(Close or Open)

Close:Pulse drivers until max steps or interrupt

Interrupt – stop, record steps

Open:Look to # stepsPulse drivers other way until zero

Complete

Software Overview

Structural CostsStructural Costs Polymorph: $40 per 500gPolymorph: $40 per 500g

For 5 fingers (125 g): $10For 5 fingers (125 g): $10 Rapid Prototype: $5 per cubic inchRapid Prototype: $5 per cubic inch

For palm (5 inFor palm (5 in33): $25): $25 Elastic shock cords: $2 per yardElastic shock cords: $2 per yard

5 yards: $105 yards: $10 Heavy Test Fishing Lining: $0.10 per yardHeavy Test Fishing Lining: $0.10 per yard Cable Housing: $20 per 25 feetCable Housing: $20 per 25 feet

MechanicsMechanics Bipolar Stepper Motor: $22-40 per motorBipolar Stepper Motor: $22-40 per motor

4 motors: $88-$1204 motors: $88-$120 FeedbackFeedback

Touch Sensors: $0.30 per sensorTouch Sensors: $0.30 per sensor ControlControl

Microcontroller: $150Microcontroller: $150 Total Cost Estimate: $350Total Cost Estimate: $350

CostCost

ScheduleSchedule