CIS Anthropomorphic Hand Vanderbilt UniversityCIS拟人手范德堡大学.ppt

ISAC Anthropomorphic Hand Team Members: Tom Billings, Mike Stock, Scott Shugh, Ananya Majumder, Kit Buckley Spool Update Needed to reduce the diameter of the spool Torque is constant, so actuation force increases as shaft diameter decreases. Decided to use the shaft of the motor as the spindle. Made a polymorph guide that attaches the line to the shaft. Also keeps the line from sliding off of the end of the shaft. Structural - Fingers Current Variation on finger design – trying to increase flexibility Fewer joints Different lengths Structural - Hand Current With fishing line as cord and modified spool, the finger was able to close Future Use original finger design After Modifications Before Modifications Sensors Sensors are now soldered to ribbon cable. Determined that, if we decrease the size of the fingers, we won’t have to artificially increase the surface area of the sensors. Still trying to obtain a wire-wrapped circuit. Still need to characterize the current drawn by the microcontroller. Thanks Dr. Bonds Control Initially had planned on a set number of maximum steps and motor speed. Realized that there will be variations in closing steps/speed based on finger variation due to polymorph and elastic tension. Fix to this issue is to allow the user customization. Allow for setting speed and maximum steps Control Speed: Set a 100% speed Allow changing speed by factors of: 25%, 50%, 75%, 125%, 150%, 200% 100% resets speed to original Limits: 10%, 400% Steps: Set a ‘good’ step value based on testing Control Steps: Set a ‘good’ step value based on experimental testing. Allow for step change within step limits based on experimental testing. Range: -127:128 (passing in a ‘0’ will reset steps) Parts List Schedule * * * * * * * * * * * * * *