Smart Robotic Foot: Design, Components, and Programming - Prof. Erik Goodman, Study notes of Principles of Theater Design

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Smart Robotic Foot

Tyler Furtwangler Dan Guyon Paul Nuss Ryan Wahula Taylor Young Chris Zsenyuk

Background

• Smart Robotic Foot (SRF)
  • Developed by Professor Dean Aslam
  • A miniature SRF was designed, fabricated and tested
    • With 40mm suction cup it can support from 1.2–3.5 kg
  • A robot with SRF used to study the load-carrying potential
  • • The SRF weighs 35 gThe SRF weighs 35 g

Suction Cups

Cup 1: •Made of Nitrile-PVC •Weighs 15.5 grams •Built in Mesh Filter

• •Ideally for Flat/SmoothIdeally for Flat/Smooth Surfaces

Cup 2: •Made of Ethylene Propylene •Weighs 22 grams •Suitable for Irregular and Rough Surfaces

Diaphragm Pump

•Operates at 6V •Delivery of 0.3 L/min •Ultimate Vacuum of 500 mbar abs.

The Diaphragm Pump

How It Works…

• Pump uses a rotational motor which is

transmitted to translational motion, which

creates a reciprocating motion

• • Creates a vacuum by providing oneCreates a vacuum by providing one--wayway

air transfer out of the enclosed space

• Air is drawn into the diaphragm chamber

on the up-stroke, and expelled on the

down-stroke

• This cycle occurs ~1000 times per minute

Housing

Pump

Suction Cup

Pressure Sensor

Valve

Fabrication

• Housing made in ME machine shop
• Used Aluminum
  • Easy to machine
  • – Is not porous, will create vacuumIs not porous, will create vacuum
• Used Mill to create 6 smooth surfaces
• Holes were made with a 1/8’’ bit using a

drill press

• Used Epoxy to make sure parts create air

tight seal

Our Design…

•Minimizes “pipe” length •Maintains a common diameter •Minimizes bends, or changes in direction

Straight flow path 3 bends

Programming

• Program requirements
  • Speed
  • Memory
• • SRF requirementsSRF requirements
  • How will the microcontroller interact with the SRF?
  • Inputs/outputs
  • High Level tasks

SRF Programming cont.

Power Circuitry

• PIC18F4520 can source or sink only 25mA - Driver circuits required to interface microcontroller and SRF componentscomponents
• Different Options
  • Mechanical Relays
  • Solid-State Relays
  • Power Transistors

Power Circuitry

Power Circuitry