Robotic Backhoe with Haptic Display

1
Robotic Backhoe with Haptic Display

• Project goals
• System concept
• Component selection
• Hydraulic circuit
• Modeling
• Kinematic simulation

2
Project Goals

• Purpose of todays visit is to determine the
  project goals!
• Perceived Goals
• Apply haptic user interface to backhoe control
• Design cost-effective system
• Increase operator efficiency
• Demonstrate proof-of-concept
• Integrate GPS with kinematic positioning for
  vehicle guidance, avoiding hazards

3
Robotic Backhoe System Concept
Desired bucket position (force input)
4
Component Selection

• Parts tentatively selected thus far
• Joystick w/Haptic Display
• Phase 1 Personnel Haptic Interface Mechanism
  (PHANTOM)
• Phase 2 Industrial grade active joystick
• Valves
• Parker-Hannifin D1FT Proportional Solenoid Valve,
  or
• HUSCO Electro-hydraulic Poppet Valve (EHPV)
• Sensors
• 2-axis accelerometer tilt sensors, or
• Angle encoders
• Pressure sensors?
• Controller
• PC-104 running Matlab/Simulink and x-PC Target

5
Hydraulic Circuit
Boom
Stick
Bucket
from existing
system
6
Modeling
Operator
Joystick
Controller
Soil
Cylinders
Backhoe
Valves
7
Kinematic Simulation
8
Kinematic Simulation