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P16051 - Phase II Robotic Eye Motion Simulator Josh, Nathan, Amy, Peter, Jordan
P16051 - Phase II Robotic Eye Motion SimulatorJosh, Nathan, Amy, Peter, Jordan
Agenda● Team Deliverables
● Pugh Chart
● Key Challenges
● Meetings with Topic Specialists
● Calculations
● Motor Specifications
● Motor Benchmarking
● 4 Options
● Risk Mitigation
● Gantt Chart
● 3 Week Plan
Team Deliverables
● Create four distinct design solutions for customer evaluation● Research and narrow down a motor benchmarking list to four candidates
Pugh Chart
Option A Option B Option C
Pugh Chart
Key Challenges
● Narrowing down a long list of motors● Correspondence with companies selling motors● Learning how to interface between motor and computer● Determining the scope of the project
Meetings with Topic Specialists
Trip to Dan’s Craft Shop!
● They didn’t have motors that fit specifications
● Mentioned use of a quadcopter gimbal to get 3 axes of motion
● Thought that a stepper motor would be best for precise positioning
Meetings with Topic Specialists
Dr. Lam
● Recommended Servo motors● Referred us to Dr. Kempski
Dr. Kempski
● Recommended Anaheim Automation, Thomson Controls, Bristol Instruments, Velmex
● Thomson - Lead Screw Actuation● Referred us to Dr. Lamkin-Kennard, Dr. Schrlau
Meetings with Topic Specialists
Dr. Schertzer
● Mentioned the possibility of using a piezo stack● Iron Triangle
○ High Speed, High Quality, Low Cost○ Can only feasibly pick two
Dr. Lamkin-Kennard
● Mentioned New Scale Technologies○ Company based in Victor NY
● Air Muscles - not precise
Dr. Schrlau
● Gave us some previous groups to look at for ideas ● Pneumatics - not precise● Lead Screws
George Slack and Sergey Lyshevski
- Spoke about motor control and interfacing with a computer or microcontroller- Possible motor companies to look for such as Maxon and Namiki- Different types of motors for different applications such as DC brush/brushless,
servo, linear actuator, etc.
Calculations - 2D Linear Actuators
Calculations - 2D Rotational Motors
Calculations - 1D Linear and Rotational
Inertia - Calculated Values
Motor Specifications - Saccade
Motor Specification - Smooth Pursuit
Motor Benchmarking - Linear
Motor Benchmarking - Linear
Motor Benchmarking - Rotational
Motor Benchmarking - Rotational
4
Options
4 Options
Chosen Option
Reasoning:
● Cost efficiency
○ reasonable controller cost (in part due to student discount)
○ reasonable motor cost (in part due to student discount)
● Meets all engineering specifications except for frequency
● Simplified design
● Feasible within two semesters
● Modularity to update robotic eye later on
Electrical Design Choices
Electrical Design Schematic
Risk Mitigation
Risk Mitigation
3 Week Plan
Detailed Design Phase
● CAD concept
● Benchmark Alpha Team Test Plan
● Prepare a test plan for Alpha Team handoff
● Look at Alpha Team Matlab and Python code
● Preliminary Teensy coding
● Familiarize with USB/SD Card interfacing
● Look at current circuitry and what we will be able to utilize
● Talk to Denis Corimer about 3D printing rubber material for eyelid
Questions???
Questions we have for Jeff
● How important is the mechanical time constant?● Importance of being standalone vs. full-time connection to computer● The resolution specified, while high, may not be accurate to within the
engineering requirements
Motor Data Sheet
- Zaber
Motor Data Sheet
- PI
Motor Data Sheet - Maxon
