<aside> 👋 Welcome! This is the documentation and project organization page for HKN’s spring 2023 project. This page will be constantly updated as the project progresses and will serve as an information hub for the project.
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<aside> 📢 Primary Task: Get familiar with Arduino controlling servos & supersonic sensors
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<aside> 📢 Primary Task: Complete hand design, & complete forearm structure
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Meeting Information & Communication
Documentation Guidelines & How to use Notion
<aside> 👷 This section will be updated as the project progresses. This section will serve as a nice overview of the project that can be shown to people outside the project, or as a nice way to look over the progress of the project.
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(2/17/2023) From the given concept of a “Robotic Arm”, the team developed the idea of an arm with the following characteristics:
Beyond these details, like looks and means of achieving these functions, are the problems and challenges the team will be solving in this project.
(3/25/2023) During Development, the arm will be split into 3 subsystems, each with an individual team producing them. These systems are:
(3/25/2023) The Arm consists of two portions, the Forearm designated as the area between your hand and elbow and the Arm designated as the area between your elbow and shoulder. The arm needs to be strong enough so that it isn’t flimsy while moving, but also must be light enough that the servos at the joints can easily lift it and the hand. To achieve this, we will be using a light aluminum for the sides and cross bars, and two servo motors at the joints. The aluminum pieces will be cut from machined 90 degree bars to help make things square and resistant to deformation.
The Arm will stand vertically from the ground with a strong motor attached to the base cross bar for 360 degree motion. The Arm will have two long 90 degree bars on the sides, with two cross bars at either end securing them and keeping it square. The base (elaborate more about the base once that is complete). The arm will be shorter than the forearm so that the whole system can actually reach the floor. Extending from the end cross bar will need flat, non 90 degree portions for the forearm servo motors to attach to (3/25/2023, design revised). The end of the arm will have the servo motors attached via screws, and for extra security will be strapped in with more thin aluminum bars around the motors to ensure they don’t fall out of place. The arm will be just the right width such that both the servo motors will fit with each other back to back. This helps keep either motor secure. Most of the wiring for the software and motors will be attached at either the arm or the base to reduce the torque required for the servos.
The Forearm will have a similar construction to the Arm, with two long 90 degree bars and two cross bars at either end to keep it square. Extending from the end cross bar will need flat, non 90 degree portions for the arm servo motors to attach to. One end of the arm will have the servo motors attached via screws, and for extra security will be strapped in with more thin aluminum bars around the motors to ensure they don’t fall out of place. The Forearm will be just the right width such that both the servo motors will fit with each other back to back. This helps keep either motor secure (3/25/2023, design revised). The other end of the forearm will leave room for the hand subsystem, smaller servo motors, and wiring.
(hand pictures here)
(software hardware pictures here)