APPENDIX B

67

APPENDIX B
Development cost
Components
Acrylic plastic
Servo motor
Motor driver
PIC Start-up kit
PIC
Others

Model

Unit Price (RM) Quantity

1.00
4
C17S (1800)
55.00
3
0
C36S (180 )
50.00
1
SC16A
150.00
1
SK40B
78.00
1
16F77A
25.00
1
Total cost (RM)

Total (RM)
4.00
165.00
50.00
150.00
78.00
25.00
20.00
492.00

Table AB.1: Development cost

Four Links Hyper Redundant Photos

Figure AB.1: Four links hyper redundant robotics manipulator

Final Year Project MCT4198/4299

2008/2009

APPENDIX B

68

Components Details

Figure AB.2: Servo motor controller layout

Figure AB.3: Connection of SC16A to PIC

Final Year Project MCT4198/4299

2008/2009

APPENDIX B

69

Figure AB.4: SK40B PIC start-up kit

Figure AB.5: GUI layout for servo controller

Figure AB.6: RS232 USB serial converter

Final Year Project MCT4198/4299

2008/2009

APPENDIX B

70

Figure AB.7: MATLAB Graphical User Interface

Project Scheduling
Process

10

11

12

13

14

10

11

12

13

14

Week
Title registration
Literature review
Analysis
Components selection
Mechanical design
Electrical design
Controller design
Simulation
Testing and debugging
Report writing
Presentation
Table AB.2: Gantt chart for project 1
Process

Week
Fabrication
System integration
Performance testing
and evaluation
Performance
improvement
Report writing
Presentation
Table AB.3: Gantt chart for project 2
Final Year Project MCT4198/4299

2008/2009