KDC Arm Project

1
KDC Arm Project

• John Kua
• Kathryn Rivard
• Benjamin Stephens
• Katie Strausser

2
Outline

• Overview
• Mechanical Design Fabrication
• Electrical Software
• Simulation Control
• Demo
• Future Work

3
Overview

• Goal Design and control a novel dynamically
  balancing manipulator
• Motivation Assistive robot manipulator to be
  mounted on friendly household Segway robot
• Typical Task Pick up objects from cupboard,
  open doors, take out the garbage

4
Mechanical

• Started with dynamic analysis to decide system
  specifications and parameters

5
Mechanical

• Designed mechanism in Solidworks CAD
• Easy to use aluminum extrusions
• Single linear actuator moves counterweight to
  balance arm
• Ball bearings support screw drive assembly

6
Electrical

• Overview
• Sensors
• Joint encoder,
• screw encoder,
• accelerometer,
• rate gyro,
• limit switches
• Motor Control
• serial commands,
• 24V/10A max
• Microcontroller
• ARM 7TDMI Architecture,
• 100Hz loop rate

7
Software

• Something
• Kalman Filter

8
Simulation Control

• Problem How to move counterweight to balance arm
  with object in gripper
• Key Idea Need to plan ahead where to place
  counterweight so that
• Solution Plan a trajectory from an initial state
  to set point (horizontal to ground)

9
Simulation Results
10
Experimental Results
11
DEMO!
12
Future Work

• More sophisticated control Input shaping, MPC,
  etc.
• Optimize counterweight mass/travel
• Shoulder joint actuation
• Joint shape iteration (yoking joint)
• Increase robustness for object balance
• Interface to Segway