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System Level Design Review
P10029: Control Enhancements for Air Muscle Biomimetic Hand
October 16, 2009
Customer: Dr. Lamkin-KennardFaculty Guide: Ed Hanzlik
Zach Wessner, Jaci Tylkowski, Alex Bean Mark Wood, Tuan Tran, Kevin Mudrak
Team Members:
P10029 is a continuation project
◦ Physical system was built by P09023
◦ Final design will be integrated into Dr. Lamkin-Kennard’s
pneumatically driven scalable robotic hand devices
Controls system is the focus
◦ Maintenance and repair only of the physical system
Virtual and Physical prototypes
◦ Virtual system modeled in SolidWorks and both
controlled by LabView
Summary
Customer Needs
Kinematic model - SolidWorks/Cosmos Motion Builder
Closed loop feedback for both hand and model.
Drive model using the inputs from the mechanical hand.
Virtual and Physical models output displacements
Quantitative analysis comparing displacements of
mechanical hand to model.
Voice of the Engineer Top 3 Metrics based on the HOQ
1. Functionality2. Accuracy3. Repeatability
System Level Risks
Software computer Error Physical System0
2
4
6
8
10
12
14
16
18
Rela
tive I
mp
ort
an
ce
System Level ArchitectureInputs to LabView GUI-% of Travel-3 Space Location-System Selection (Physical/Virtual)-Coded Movements-Absolute/Relative Joint Position
Physical Programming Function-convert input into time to open/close valves-convert DAQ voltages into position outputs
Virtual Programming Function-convert GUI input into angular actuation for joints-convert sensor output to 3 Space Location
Physical System Architecture
Virtual System Architecture
LabView GUI
Inputs Outputs
Originator: P09023 Date Created: 2008
Physical Architecture
2.5 to 10 VDC
Originator: P09023 Date Created: 10-3-2008
Controls Architecture
Virtual Architecture
SoftMotion Functions
Trajectory Generator
Communication Interface
(Scan Engine)
Motion Simulation
NI LabView 2009 w/ SoftMotion SolidWorks 2009 Premium
User Input: [LabView Front Panel]
Coordinate Move Single Axis Move
User Input: [SolidWorks Assembly]
Motion Analysis
System Output: [SolidWorks Assembly]
Visual Motion of Assembly
System Output: [LabView Front Panel]
Displacement Feedback
Virtual Proof of Concept Goal:
1. LabView 2009 SoftMotion: meets objectives?2. Educate team for full-scale model3. System architecture
Plan Simplified SolidWorks model Research & tutorials for LabView Develop LabView control (single axis)o Functional Evaluation
Joint design, movement, controls scheme, feedback Iterative (adding complexity)
Virtual Proof of Concept
SolidWorks Model
1 DOFSimulated Joint
Virtual Proof of Concept
Virtual Proof of Concept Issues / Risks:• Scan Engine Period [5ms or 10 ms] / Deployment• Virtual Controls Scheme differs from Physical• Virtual Error = 0?
Leaking air muscles
Excessive play due to rubber mount (not measurable for
feedback because sensor is also moving)
Slop in finger joint
Pulleys breaking, and translating
Past teams poor documentation misguiding our repairs
USB 2.0 needed
Physical System Risks/Issues
Evaluation Method
Volt meter
Modified Vision
Tracking ProtractorString
Indicator Dial Gauge Templates
Revolution Measurement
(pulley)
Units of Measure V in/mm/deg degrees in/mm in/mm Revolutions
Type of Measure voltage displacement angle displacement displacement model displacement
Accuracy + + 0 0 + + 0
Repeatibilty + + 0 + + + 0
Uncertainity 0 + 0 + 0 + -
Cost + + + + 0 + 0
Availability + + + + 0 + +
Complexity - 0 - - 0 - 0
Total score 3 5 1 3 2 4 0
•Concepts generated for measurement of displacement•Measurement of error was also considered
Critical Dates
System Level Design Review – 10/16/09
Detailed Design Review – 11/06/09 (3 weeks)
◦ Virtual Concept Selected
◦ Physical Prototype benchmarked
◦ Controls (Physical & Virtual) designed
Project Management Review – 11/20/09 (5 weeks)
◦ Controllable virtual system
◦ Controllable physical system
◦ Calibration Plan / DAT Plan
Are our resources sufficient?
◦ Physical System
◦ Computer
◦ Software
Are we solving the right problem?
Decisions/Action Items