Final presentation
Transcript of Final presentation
HAPTIC TELECONTROL OF ROBOTIC ARM
Project’s Development
Terminal Project
Team Members Alvarado Juarez Diego Armando Butrón Castañeda Marco Antonio Díaz Loyo Diego González García Luis César
Advisers Ing. Israel Vázquez Cianca M. C. Sergio Viveros Bretón
Agenda
Necessity Justification State of Art Functional Analysis Requirements
Classification Desirable requirements Translation to measurable terms Design Goals House of quality
Concept generation Concept evaluation Winning concept
Necessity Design a tool to perform remote handling
tests with force feedback.
Function Remotely control a manipulator with a
haptic interface.
Justification
The problem of designing a system that combines the virtues of the teleoperation and haptic technologies gives rise to this project, because it is really difficult to find systems or projects that inflect this robotic areas. Hereby we propose the development of a system that allows us to emulate opposition forces that occur in an enviroment out of reach.
State of Art
Teleoperation
State of Art
Teleoperation
State of Art
Haptic Systems
State of Art
Haptic Systems “El único limite de las aplicaciones hápticas esta dado por el poder de nuestras
mentes” [Robles de la Torre, 06]
State of Art
Haptic teleoperation
Functional Analysis
Functional Analysis
Requirements Classification
Requirement Type RequirementsEconomical Low costFunctional Analog I/O
Emergency StopKinematics configuration similar to the human armDelay with low impact to the systemEnought bandwidth for realistic feedbackOne hand required for the operationIntuitive to the operatorVelocities and forces restrictionsAvoid involuntary movements or vibrationsFeel the slave forcesReliably reproduce movements of the master2 kg workloadGeneral purpose gripperElectrical drivesEasy to move or stopGood handling
Requirements Classification
Requirement Type Requirement
Appearence
Installation and manufacturability Easy installationEasy maintenanceDurable
Conservation Resistent
Requirements ClassificationObligatory Desirable
Analog I/ODelay of low impact to the system
Enough Bandwidth for realistic feedbackGood handling
Kinematics configuration similar to the human armResistent
Emergency stopDurable
Velocities and forces restrictionsIntuitive to the user
Avoid involuntary movements or vibrationsLow cost
Feel the slave forcesEasy maintenance
Realiable reproduction of the master movementsEasy installation
2 kg workloadOne hand required for operation
General purpose gripper
Electrical drives
Easy to move or to stop
Installable in any classroom (ESIME Azcapotzalco)
Desirable requirements consideration
D1 D2 D3 D4 D5 D6 D7 D8 D9 Σ+ %
D1 - - - + - - - - 1 2.78
D2 + - + - - - - - 2 5.56
D3 + + + + + + + + 8 22.22
D4 + - - + + - - - 3 8.33
D5 - + - - - - - - 1 2.78
D6 + + - - + - - - 3 8.33
D7 + + - + + + - - 5 13.89
D8 + + - + + + + - 6 16.67
D9 + + - + + + + + 7 19.44
Total 36 100
Importance order of the desirable requirements
No. Requirement % Σ+
D3Delay of low impact to the
system22.22 8
D9 Good handling 19.44 7
D8 Resistent 16.67 6
D7 Durable 13.89 5
D6 Intuitive for the user 8.33 3
D4 Low cost 8.33 3
D2 Easy maintenance 5.56 2
D1 Easy installation 2.78 1
D5One hand required for
operation2.78 1
Total 100 36
Translation into measurable engineering terms
No. Requirement Measurable Term
1 Analog I/O Force sensing elements [N], Position[cm][degrees], Speed[m/s]
2 Emergency Stop Emergency Stop Mechanism. (Emergency stop button) [#]
3 Easy installation Short installation time [hr]
4 Easy maintenance
Spare parts availability
Time of acquisition of spares[dd]
Maintenance Average maintenance time[hr]
5Kinematics configuration similar to human arm
Articular morphology. DOF [#]
6Movement speed lower than that of a human arm when performing
a standard task [m/s]
7Delay of low impact to the system Delay time[s]
Enough bandwidth for realistic feedback Bandwidht [Hz]
8 Low costMaterial cost. Pesos [MXN]
Manufacturing time [hr]
9 One hand required in the operation Number of hands [#]
10 Intuitive for the user Use learning time [hr]
No. Requirement Measurable Term
11 Velocities and forces restrictions
Maximun force comparable to the human arm [N]
Maximun velocity [m/s]
12 Avoid involuntary movements or vibrations Filtration of fast movements [m/s]
13 Feel the slave forces Slave’s force feedback [N]
14 Reliable master’s movement reproductionGood Realiability[error
percentage %]
15 2 kg of workload Workoad [Kg]
16 General purpose gripper Gripper fingers[#]
17 Durable Time [years]
18 Installabel in any classroom (ESIME Azcapotzalco) Volume [m^3]
19 Resistent
ImpactsResistent to unexpected impacts.
[N]
DeflectionAble to deflect in order to protec the mehanism [mm], [degrees]
20 Electric drives Torque [Nm]
21 Easy to move or to stopForce[N], Moment of Inertia
[N*m]
22 Good handling
Force [N], friction coefficient
Insignificant weight beared by the user[N]
Measurable Terms
Force sensing elements [N], Position[cm]
[degrees], Speed[m/s]
Emergency Stop
Mechanism.
(Emergency stop button)
[#]
Articular morphology. DOF
[#]
Movement speed lower than that of a human arm
when performing a
standard task [m/s]
Maximun force
comparable to the
human arm [N]
Filtration of fast
movements [m/s]
]
Slave’s force
feedback [N]]
Good Realiability[error
percentage %]
Workoad [Kg]
Gripper fingers[#]
Volume
[m^3]Torque [Nm]
Requirements
Obligatory
Analog I/O 5 3 5 5 5 5 5 3 5 1 3 5
Emergency Stop 3 5 1 1 1 1 1 1 1 1 1 1
Kinematics configuration similar to human arm 5 1 5 5 5 5 3 1 3 5 3 3
Velocities and forces restrictions 5 1 5 5 5 5 3 3 5 1 1 3
Avoid involuntary movements or vibrations 5 1 5 5 5 5 5 5 5 1 1 5
Feel the slave forces 5 1 3 3 3 5 5 5 5 3 1 5
Realible master movements reproduction 3 1 1 1 3 5 5 5 1 1 1 1
2 kg of workload 5 1 3 3 5 5 5 1 5 1 1 5
General purpose gripper 1 1 5 5 1 1 3 1 1 5 1 3
Installable in any classroom (ESIME Azcapotzalco) 3 1 3 3 1 1 1 1 1 1 5 3
Electrical Drives 5 1 3 3 3 5 5 1 5 3 3 5
Easy to move or to stop 5 1 5 5 5 5 5 3 5 3 1 5
Design goals 0-20 N2
Minimum3
minimum0,05 - 0,15
m/s20 N .05 - .15 m/s 0 - 20 N < 10 % 2 Kg
2 Minimum
1 - 8 m^3
Torque able to move load of
40 N
Casa de la calidadMeasurabl
e TermsDelay time[s]
Force [N], friction
coefficient
Resistent to unexpected impacts. [N]
Minimum wear. Distance [micras]
Use learning time [hr]
Material cost. Pesos [MXN]
Time of acquisition of
spares[dd]
Short installation time
[hr]
Number of hands [#]
Requirements
Desirable
Delay of low impact to the system
22.22% 5 3 1 1 1 3 1 1 1
Good handling 19.44% 3 5 1 3 1 3 1 1 1
Resistent 16.67% 1 1 5 5 1 3 1 1 1
Durable 13.89% 1 3 5 5 1 3 3 1 1
Intuitive for the user 8.33% 1 1 1 1 5 1 1 3 5
Low cost 8.33% 3 3 3 3 1 5 5 3 1
Easy maintenance 5.56% 1 1 1 3 1 5 5 3 1
Easy installation 2.78% 1 1 1 1 3 3 3 5 1
One hand required in the operation 2.78% 1 1 1 1 5 1 1 1 5
Design goals < .5 s Low frictionResisten up to
20 N
Minimum duration of 5
years< 30 minutos $ 300 000 1-3 days < 2 hours 1 hand
Concept Generation
FUNTION SOLUTIONS # SOLUTIONS
MASTER
REPRESENT
FORCES A.C. SERVOPERMANENT MAGNETS
SERVO STEPPER MOTORMECHANICAL
BRAKES LINEAL H.A.ANGULAR
H.A.LINEAL
N.A.ANGULAR
N.A.CONTROLED
FIELD D.C. SERVO
CONTROLLED ARMOR D.C.
SERVO
PERMANENT MAGNETS AND CONTROLLED
ARMOR D.C. SERVO
DIVIDED FIELD D.C.SERVO 12
CONVEY
MOVEMENT CHAIN BAND CABLE GEARS 4
SENSE
SPEED TACOGENERATOR DOOPLER SENSOR GYROMETERABSOLUT ENCODER
INCREMENTAL ENCODER 5
POSITION POTENTIOMETER RESOLVERS GYROSCOPEABSOLUT ENCODER
INCREMENTAL ENCODER
5
CONTROL PIC AVR PC PLC 4
SLAVE
SENSE
FORCE
PRESSURE TERMOPAR STRAIN GAUGE PIEZO RESISTIVO 3
PAR STRAIN GAUGEMULTIAXIS FORCE
SENSOR DINAMOMETROS 3
POSITION POTENTIOMETER RESOLVERS GYROSCOPEABSOLUT ENCODER
INCREMENTAL ENCODER
5
SPEED TACOGENERATOR DOOPLER SENSOR GYROMETER ABSOLUT
ENCODERINCREMENTAL
ENCODER12
REPRESENT MOVEMENTS A.C. SERVO
PERMANENT MAGNETS SERVO STEPPER MOTOR
MECHANICAL BRAKES LINEAL H.A.
ANGULAR H.A.
LINEAL N.A.
ANGULAR N.A.
CONTROLED FIELD D.C. SERVO
CONTROLLED ARMOR D.C.
SERVO
PERMANENT MAGNETS AND CONTROLLED
ARMOR D.C. SERVO
DIVIDED FIELD D.C.SERVO 5
CONVEY
MOVEMENT CHAIN BAND CABLE GEARS 4
CONTROL PIC AVR PC PLC 4
COMMUNICATION
TO SEND AND RECEIVE DATA
CONECTOR ETHERNET SERIAL PORT USB FIREWIRE 4
WIRELESS BLUETOOTH INFRARED WI-FI 3
WIRED OPTIC FIBER COAXIAL CABLE TWISTED PAIR 3
PROTOCOLS HTTP RS232 FTP TCP/IP 3
TOTAL 22,394,880,000
Concept Evaluation
FUNCION SOLUCIONES # SOLUCIONES
MASTER
REPRESENT
FORCES A. C. SERVOPERMANENT MAGNETS
SERVO STEPPER MOTORMECHANICAL
BRAKES LINEAL H.A.ANGULAR
H.A.LINEAL
N.A.ANGULAR
N.A.
CONTROLED FIELD D.C.
SERVO
CONTROLLED ARMOR D.C.
SERVO
PERMANENT MAGNETS AND CONTROLLED
ARMOR D.C. SERVO
DIVIDED FIELD D.C.SERVO 12
CONVEY
MOVEMENT CHAIN BAND CABLE GEARS 4
SENSE
SPEED TACOGENERATOR DOOPLER SENSOR GYROMETERABSOLUT ENCODER
INCREMENTAL ENCODER 5
POSITION POTENTIOMETER RESOLVERS GYROSCOPEABSOLUT ENCODER
INCREMENTAL ENCODER
5
CONTROL PIC AVR PC PLC 4
SLAVE
SENSE
FORCE
PRESSURE TERMOPAR STRAIN GAUGE PIEZO RESISTIVO 3
PAR STRAIN GAUGEMULTIAXIS FORCE
SENSORDINAMOMETROS 3
POSITION POTENTIOMETER RESOLVERS GYROSCOPEABSOLUT ENCODER
INCREMENTAL ENCODER 5
SPEED TACOGENERATOR DOOPLER SENSOR GYROMETERABSOLUT ENCODER
INCREMENTAL ENCODER
12
REPRESENT MOVEMENTS A. C. SERVO
PERMANENT MAGNETS SERVO STEPPER MOTOR
MECHANICAL BRAKES LINEAL H.A.
ANGULAR H.A.
LINEAL N.A.
ANGULAR N.A.
CONTROLED FIELD D.C.
SERVO
CONTROLLED ARMOR D.C.
SERVO
PERMANENT MAGNETS AND CONTROLLED
ARMOR D.C. SERVO
DIVIDED FIELD D.C.SERVO 5
CONVEY
MOVEMENT CHAIN BAND CABLE GEARS 4
CONTROL PIC AVR PC PLC 4
COMMUNICATION
TO SEND AND RECEIVE DATA
CONECTOR ETHERNET SERIAL PORT USB FIREWIRE Factibility 4
WIRELESS BLUETOOTH INFRARED WI-FI Technological Availability 3
WIRED OPTIC FIBER COAXIAL CABLE TWISTED PAIR Customers requirements 3
PROTOCOLS HTTP RS232 FTP TCP/IP Decision matrices 3
Winning Concept
FUNTION SOLUTION
MASTER
REPRESENT FORCES
PERMANENT MAGNETS SERVO
CONVEY
MOVEMENT CABLE
SENSE
SPEED INCREMENTAL ENCODER
POSITION INCREMENTAL ENCODER
CONTROL AVR PC
SLAVE
SENSE
FORCE
PRESSURE STRAIN GAUGE
PAR STRAIN GAUGE MULTIAXIS FORCE SENSOR
POSITION INCREMENTAL ENCODER
SPEED INCREMENTAL ENCODER
REPRESENT MOVEMENTS
PERMANENT MAGNETS SERVO
CONVEY
MOVEMENT CABLE
CONTROL AVR PC
COMMUNICATION
TO SEND AND RECEIVE DATA
CONECTOR ETHERNET SERIAL PORT USB
WIRELESS
WIRED TWISTED PAIR
PROTOCOLS RS232 TCP/IP
Winning Concept