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EDP - Theory & Design Report

EDP - Theory & Design Report

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Published by: vipul-potluri-3565 on Feb 15, 2010
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09/12/2010

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EngineeringDesignProject2009
HapticDeviceforTelepresense
RoboticArmMotionTracking
haptics‐telepresence.wikispaces.com
UMAIRNIAZVIPULPOTLURIDARYLYAMSON
 
 Table of Contents
1.0
 
Theory 21.1
 
Microcontroller 21.1.1
 
Selection Criteria 21.1.2
 
Arduino Mega 21.2
 
Actuators 31.2.1
 
Selection Criteria 31.2.2
 
Servo Motor Control 41.2.3
 
Torque Calculation 61.3
 
Haptic Functions 61.3.1
 
Selection Criteria 71.3.2
 
Force Sensing Resistors 71.4
 
Communications 81.4.1
 
Selection Criteria 81.4.2
 
Zigbee Networking 82.0
 
Design 112.1
 
Complete System 112.2
 
Robotic Arms 122.2.1
 
Building Materials 122.2.2
 
Position Feedback 122.2.3
 
 Noise Reduction 142.3
 
Haptic Functions 142.3.1
 
Rigidity of the Object 152.3.2
 
Weight of the Object 162.4
 
Communications 172.4.1
 
Configuration 172.5
 
Power Supply 182.5.1
 
Voltage Regulation 182.5.2
 
Minimum Power Required 202.5.3
 
Power Regulation 20
 
1.0 Theory
1.1 Microcontroller
1.1.1 Selection Criteria
Microcontrollers come in various ranges, from low-power, small architecture to highlysophisticated high-speed processor core. The selection is therefore, dependent on thespecific application. We look at the amount of memory required, number of I/O pins,communication interfaces, programming language, ADC and DAC pins, and input andoutput capture requirements, voltage supply, etc. Also, the MCU must be able to processdata in real-time, thus it must be capable of multitasking.Microchip Technologies Inc.
1
suggested following factors while selecting themicrocontroller:
Architecture 8 bitOperating Frequency >1 KHzMemory >15 KBDigital Communication Peripherals Serial Communication (RS232, USB), Wireless Protocols (optional)Capture/Compare/PWM Peripherals Ideally 10 PWM (Output Compare or DEMUX can be used as well)Analog Input Ideally 10 (otherwise we need MUX)Physical Size Small to MediumCost <$100Programming Language C programming language
1.1.2 Arduino Mega
As stated before, for a given price we can buy the best MCU and evaluation board but weare constraint by our budget. Theengineering solution is to employ asmuch ingenuity possible whileremaining within the limitedresources. After evaluation, weselected
Arduino Mega
MCUevaluation board because it is theleast expansive of the available onesin the market and more or less fulfillsour requirement with additional add-ons, i.e., ZIGBEE modules for wireless communication between the arms. It is not possible to include evaluation content for every MCU in this report for brevity. For comprehensive evaluation please visit our wiki page.

1
http://www.microchip.com/stellent/idcplg?IdcService=SS_GET_PAGE&nodeId=2127&param=en023431

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