Final presentation

HAPTIC TELECONTROL OF ROBOTIC ARM

Project’s Development

Terminal Project

Team Members Alvarado Juarez Diego Armando Butrón Castañeda Marco Antonio Díaz Loyo Diego González García Luis César

Advisers Ing. Israel Vázquez Cianca M. C. Sergio Viveros Bretón

Agenda

Necessity Justification State of Art Functional Analysis Requirements

Classification Desirable requirements Translation to measurable terms Design Goals House of quality

Concept generation Concept evaluation Winning concept

Necessity Design a tool to perform remote handling

tests with force feedback.

Function Remotely control a manipulator with a

haptic interface.

Justification

The problem of designing a system that combines the virtues of the teleoperation and haptic technologies gives rise to this project, because it is really difficult to find systems or projects that inflect this robotic areas. Hereby we propose the development of a system that allows us to emulate opposition forces that occur in an enviroment out of reach.

State of Art

Teleoperation

State of Art

Teleoperation

State of Art

Haptic Systems

State of Art

Haptic Systems “El único limite de las aplicaciones hápticas esta dado por el poder de nuestras

mentes” [Robles de la Torre, 06]

State of Art

Haptic teleoperation

Functional Analysis

Functional Analysis

Requirements Classification

Requirement Type RequirementsEconomical Low costFunctional Analog I/O

Emergency StopKinematics configuration similar to the human armDelay with low impact to the systemEnought bandwidth for realistic feedbackOne hand required for the operationIntuitive to the operatorVelocities and forces restrictionsAvoid involuntary movements or vibrationsFeel the slave forcesReliably reproduce movements of the master2 kg workloadGeneral purpose gripperElectrical drivesEasy to move or stopGood handling

Requirements Classification

Requirement Type Requirement

Appearence

Installation and manufacturability Easy installationEasy maintenanceDurable

Conservation Resistent

Requirements ClassificationObligatory Desirable

Analog I/ODelay of low impact to the system

Enough Bandwidth for realistic feedbackGood handling

Kinematics configuration similar to the human armResistent

Emergency stopDurable

Velocities and forces restrictionsIntuitive to the user

Avoid involuntary movements or vibrationsLow cost

Feel the slave forcesEasy maintenance

Realiable reproduction of the master movementsEasy installation

2 kg workloadOne hand required for operation

General purpose gripper

Electrical drives

Easy to move or to stop

Installable in any classroom (ESIME Azcapotzalco)

Desirable requirements consideration

D1 D2 D3 D4 D5 D6 D7 D8 D9 Σ+ %

D1 - - - + - - - - 1 2.78

D2 + - + - - - - - 2 5.56

D3 + + + + + + + + 8 22.22

D4 + - - + + - - - 3 8.33

D5 - + - - - - - - 1 2.78

D6 + + - - + - - - 3 8.33

D7 + + - + + + - - 5 13.89

D8 + + - + + + + - 6 16.67

D9 + + - + + + + + 7 19.44

Total 36 100

Importance order of the desirable requirements

No. Requirement % Σ+

D3Delay of low impact to the

system22.22 8

D9 Good handling 19.44 7

D8 Resistent 16.67 6

D7 Durable 13.89 5

D6 Intuitive for the user 8.33 3

D4 Low cost 8.33 3

D2 Easy maintenance 5.56 2

D1 Easy installation 2.78 1

D5One hand required for

operation2.78 1

Total 100 36

Translation into measurable engineering terms

No. Requirement Measurable Term

1 Analog I/O Force sensing elements [N], Position[cm][degrees], Speed[m/s]

2 Emergency Stop Emergency Stop Mechanism. (Emergency stop button) [#]

3 Easy installation Short installation time [hr]

4 Easy maintenance

Spare parts availability

Time of acquisition of spares[dd]

Maintenance Average maintenance time[hr]

5Kinematics configuration similar to human arm

Articular morphology. DOF [#]

6Movement speed lower than that of a human arm when performing

a standard task [m/s]

7Delay of low impact to the system Delay time[s]

Enough bandwidth for realistic feedback Bandwidht [Hz]

8 Low costMaterial cost. Pesos [MXN]

Manufacturing time [hr]

9 One hand required in the operation Number of hands [#]

10 Intuitive for the user Use learning time [hr]

No. Requirement Measurable Term

11 Velocities and forces restrictions

Maximun force comparable to the human arm [N]

Maximun velocity [m/s]

12 Avoid involuntary movements or vibrations Filtration of fast movements [m/s]

13 Feel the slave forces Slave’s force feedback [N]

14 Reliable master’s movement reproductionGood Realiability[error

percentage %]

15 2 kg of workload Workoad [Kg]

16 General purpose gripper Gripper fingers[#]

17 Durable Time [years]

18 Installabel in any classroom (ESIME Azcapotzalco) Volume [m^3]

19 Resistent

ImpactsResistent to unexpected impacts.

[N]

DeflectionAble to deflect in order to protec the mehanism [mm], [degrees]

20 Electric drives Torque [Nm]

21 Easy to move or to stopForce[N], Moment of Inertia

[N*m]

22 Good handling

Force [N], friction coefficient

Insignificant weight beared by the user[N]

Measurable Terms

Force sensing elements [N], Position[cm]

[degrees], Speed[m/s]

Emergency Stop

Mechanism.

(Emergency stop button)

[#]

Articular morphology. DOF

[#]

Movement speed lower than that of a human arm

when performing a

standard task [m/s]

Maximun force

comparable to the

human arm [N]

Filtration of fast

movements [m/s]

]

Slave’s force

feedback [N]]

Good Realiability[error

percentage %]

Workoad [Kg]

Gripper fingers[#]

Volume

[m^3]Torque [Nm]

Requirements

Obligatory

Analog I/O   5 3 5 5 5 5 5 3 5 1 3 5

Emergency Stop   3 5 1 1 1 1 1 1 1 1 1 1

Kinematics configuration similar to human arm   5 1 5 5 5 5 3 1 3 5 3 3

Velocities and forces restrictions   5 1 5 5 5 5 3 3 5 1 1 3

Avoid involuntary movements or vibrations   5 1 5 5 5 5 5 5 5 1 1 5

Feel the slave forces   5 1 3 3 3 5 5 5 5 3 1 5

Realible master movements reproduction   3 1 1 1 3 5 5 5 1 1 1 1

2 kg of workload   5 1 3 3 5 5 5 1 5 1 1 5

General purpose gripper   1 1 5 5 1 1 3 1 1 5 1 3

Installable in any classroom (ESIME Azcapotzalco)   3 1 3 3 1 1 1 1 1 1 5 3

Electrical Drives   5 1 3 3 3 5 5 1 5 3 3 5

Easy to move or to stop   5 1 5 5 5 5 5 3 5 3 1 5

Design goals 0-20 N2

Minimum3

minimum0,05 - 0,15

m/s20 N .05 - .15 m/s 0 - 20 N < 10 % 2 Kg

2 Minimum

1 - 8 m^3

Torque able to move load of

40 N

Casa de la calidadMeasurabl

e TermsDelay time[s]

Force [N], friction

coefficient

Resistent to unexpected impacts. [N]

Minimum wear. Distance [micras]

Use learning time [hr]

Material cost. Pesos [MXN]

Time of acquisition of

spares[dd]

Short installation time

[hr]

Number of hands [#]

Requirements

Desirable

Delay of low impact to the system

22.22% 5 3 1 1 1 3 1 1 1

Good handling 19.44% 3 5 1 3 1 3 1 1 1

Resistent 16.67% 1 1 5 5 1 3 1 1 1

Durable 13.89% 1 3 5 5 1 3 3 1 1

Intuitive for the user 8.33% 1 1 1 1 5 1 1 3 5

Low cost 8.33% 3 3 3 3 1 5 5 3 1

Easy maintenance 5.56% 1 1 1 3 1 5 5 3 1

Easy installation 2.78% 1 1 1 1 3 3 3 5 1

One hand required in the operation 2.78% 1 1 1 1 5 1 1 1 5

Design goals < .5 s Low frictionResisten up to

20 N

Minimum duration of 5

years< 30 minutos $ 300 000 1-3 days < 2 hours 1 hand

Concept Generation

  FUNTION SOLUTIONS # SOLUTIONS

MASTER

 REPRESENT

FORCES   A.C. SERVOPERMANENT MAGNETS

SERVO STEPPER MOTORMECHANICAL

BRAKES LINEAL H.A.ANGULAR

H.A.LINEAL

N.A.ANGULAR

N.A.CONTROLED

FIELD D.C. SERVO

CONTROLLED ARMOR D.C.

SERVO

PERMANENT MAGNETS AND CONTROLLED

ARMOR D.C. SERVO

DIVIDED FIELD D.C.SERVO 12

 CONVEY

MOVEMENT   CHAIN BAND CABLE GEARS 4

 SENSE

SPEED   TACOGENERATOR DOOPLER SENSOR GYROMETERABSOLUT ENCODER

INCREMENTAL ENCODER 5

POSITION   POTENTIOMETER RESOLVERS GYROSCOPEABSOLUT ENCODER

INCREMENTAL ENCODER

5

    CONTROL   PIC AVR PC PLC 4

SLAVE

SENSE

FORCE

PRESSURE TERMOPAR STRAIN GAUGE PIEZO RESISTIVO 3

PAR STRAIN GAUGEMULTIAXIS FORCE

SENSOR DINAMOMETROS 3

POSITION   POTENTIOMETER RESOLVERS GYROSCOPEABSOLUT ENCODER

INCREMENTAL ENCODER

5

 SPEED   TACOGENERATOR DOOPLER SENSOR GYROMETER ABSOLUT

ENCODERINCREMENTAL

ENCODER12

REPRESENT MOVEMENTS   A.C. SERVO

PERMANENT MAGNETS SERVO STEPPER MOTOR

MECHANICAL BRAKES LINEAL H.A.

ANGULAR H.A.

LINEAL N.A.

ANGULAR N.A.

CONTROLED FIELD D.C. SERVO

CONTROLLED ARMOR D.C.

SERVO

PERMANENT MAGNETS AND CONTROLLED

ARMOR D.C. SERVO

DIVIDED FIELD D.C.SERVO 5

 CONVEY

MOVEMENT  CHAIN BAND CABLE GEARS 4

  CONTROL   PIC AVR PC PLC 4

COMMUNICATION

TO SEND AND RECEIVE DATA

CONECTOR ETHERNET SERIAL PORT USB FIREWIRE 4

  WIRELESS BLUETOOTH INFRARED WI-FI 3

  WIRED OPTIC FIBER COAXIAL CABLE TWISTED PAIR 3

  PROTOCOLS HTTP RS232 FTP TCP/IP 3

TOTAL 22,394,880,000

Concept Evaluation

  FUNCION SOLUCIONES # SOLUCIONES

MASTER

 REPRESENT

FORCES   A. C. SERVOPERMANENT MAGNETS

SERVO STEPPER MOTORMECHANICAL

BRAKES LINEAL H.A.ANGULAR

H.A.LINEAL

N.A.ANGULAR

N.A.

CONTROLED FIELD D.C.

SERVO

CONTROLLED ARMOR D.C.

SERVO

PERMANENT MAGNETS AND CONTROLLED

ARMOR D.C. SERVO

DIVIDED FIELD D.C.SERVO 12

 CONVEY

MOVEMENT   CHAIN BAND CABLE GEARS 4

 SENSE

SPEED   TACOGENERATOR DOOPLER SENSOR GYROMETERABSOLUT ENCODER

INCREMENTAL ENCODER 5

POSITION   POTENTIOMETER RESOLVERS GYROSCOPEABSOLUT ENCODER

INCREMENTAL ENCODER

5

    CONTROL   PIC AVR PC PLC 4

SLAVE

SENSE

FORCE

PRESSURE TERMOPAR STRAIN GAUGE PIEZO RESISTIVO 3

PAR STRAIN GAUGEMULTIAXIS FORCE

SENSORDINAMOMETROS 3

POSITION   POTENTIOMETER RESOLVERS GYROSCOPEABSOLUT ENCODER

INCREMENTAL ENCODER 5

SPEED   TACOGENERATOR DOOPLER SENSOR GYROMETERABSOLUT ENCODER

INCREMENTAL ENCODER

12

REPRESENT MOVEMENTS   A. C. SERVO

PERMANENT MAGNETS SERVO STEPPER MOTOR

MECHANICAL BRAKES LINEAL H.A.

ANGULAR H.A.

LINEAL N.A.

ANGULAR N.A.

CONTROLED FIELD D.C.

SERVO

CONTROLLED ARMOR D.C.

SERVO

PERMANENT MAGNETS AND CONTROLLED

ARMOR D.C. SERVO

DIVIDED FIELD D.C.SERVO 5

 CONVEY

MOVEMENT   CHAIN BAND CABLE GEARS 4

  CONTROL   PIC AVR PC PLC 4

COMMUNICATION

TO SEND AND RECEIVE DATA

CONECTOR ETHERNET SERIAL PORT USB FIREWIRE   Factibility 4

  WIRELESS BLUETOOTH INFRARED WI-FI   Technological Availability 3

  WIRED OPTIC FIBER COAXIAL CABLE TWISTED PAIR   Customers requirements 3

  PROTOCOLS HTTP RS232 FTP TCP/IP   Decision matrices 3

Winning Concept

  FUNTION SOLUTION  

MASTER

  REPRESENT FORCES

  PERMANENT MAGNETS SERVO

 CONVEY

MOVEMENT  CABLE

 SENSE

SPEED   INCREMENTAL ENCODER

POSITION   INCREMENTAL ENCODER

    CONTROL   AVR PC

SLAVE

SENSE

FORCE

PRESSURE STRAIN GAUGE

PAR STRAIN GAUGE MULTIAXIS FORCE SENSOR

POSITION   INCREMENTAL ENCODER

SPEED   INCREMENTAL ENCODER

REPRESENT MOVEMENTS

  PERMANENT MAGNETS SERVO

 CONVEY

MOVEMENT  CABLE

  CONTROL   AVR PC

COMMUNICATION

TO SEND AND RECEIVE DATA

CONECTOR ETHERNET SERIAL PORT USB

  WIRELESS

  WIRED TWISTED PAIR

  PROTOCOLS RS232 TCP/IP

Winning Concept