Grabot

1
Grabot

• By
• Krithika Rangarajan
• Megha Shah
• Mahendran Ravichandran
• Prakash Subramanian
• Viswaath Ganesan
• Under the guidance of
• Dr. Abhilash Pandya

2
Introduction

• Cervical Injuries leave people paralyzed
  depending on the nerves which have been injured.
• Motion of the limbs are of crucial importance to
  every human being
• The function of upper limbs is to hold ,grab and
  move objects around.
• The arm we are building is to be straped around
  the dominant arm and commands are to be issued to
  perform necessary actions

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Project Aims

• Light weighted As the arm needs to strapped to
  the human arm it needs to be light. We have built
  a prototype and can be miniature according to the
  user
• Least number of motors to smoothen the action of
  air muscle and again reduce weight of motors as
  well as batteries
• Incorporating voice control into the
  microcontroller to reduce the electronics of the
  circuit

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Block Daigram
Microphone
VR Stamp Module
Solenoid Valves
Driver Circuit
Compressor
Air Muscle
Grabber motion
Mechanical Motion
5
Main components used

• Air Muscle
• VR Stamp Module
• Solenoid Valves
• Telescopic arm
• Grabber

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Air Muscle
Before air is blown into the air muscle it is in
stretched form
After air is blown into the air muscle in
compressed form
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Properties of Air Muscle

• Weighs on 10 grams (light weight)
• No lag of time and has immediate response
• Can be operated even when twisted axially and
  need to precise aligning
• Produce an incredible force especially when full
  stretched
• Works as a soft actuator.

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VR Stamp Module
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Voice Recognition

• We use an embedded RSC-4X microcontroller chip
  capable of voice recognition.
• The microcontroller comes in the form of a
  embedded chip capable of working as a standalone
  micro controller called VR STAMP MODULE.

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Voice Recognition cont

• Advantages
• Noise-robust Speaker Independent (SI) and Speaker
  Dependent (SD) recognition.
• Low power Audio Wakeup from sleep
• Microphone preamplifier
• 24 I/O lines
• Low power requirements
• VDD 2.70V 3.6V
• IACT 26mA _at_ 3V
• ISLEEP lt20uA _at_ 3V

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Solenoid Valve

• SMC SY100 SERIES
• Working temp -10 to 50 deg C.
• Response time 10 ms
• Operating voltage -gt 5V
• Operating pressure -gt 0 to 0.7 Mpa
• Port size M3.

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Working of solenoid valve
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Grabber

• Strong Enough to hold a 20 oz Soda-Can
• Dexterous Enough to grab a Feather

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Grabber Motor

• Stall Torque 6.5 inch-pounds
• Free spin 74 rpm at 7.5V
• Current Draw 0.14 Amps to about 1.6 Amp. at
  stall per Motor at 7.5V

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Mechanical Design
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MECHANICAL PARTS
PULLEY 2
PULLEY 1
HOLDER
GRABBER ATTACHMENT
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CIRCUIT DESIGN
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CIRCUIT DESIGN Cont..
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WORKING MECHANISM
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MUSCLE 1
GO
REVERSE
MUSCLE 2
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FUTURE ENHANCEMENTS

• Telescopic arm has to be miniaturized.
• Using multiple air muscles to make step by step
  movements.
• Using proportional valve to increase the
  efficiency of the air muscle.
• Making a lighter model of the arm using some
  lighter material

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Acknowledgement

• Dr. Abhilash Pandya
• Team of 3 Dimensional Services
• Mr. Vince Brown
• Mr. Mike Finta group

23
References

• www.Shadowrobot.com ? air muscle
• www.smcusa.com ? solenoid valve
• http//www.fas.ch/info_tech_voies.asp?sectionIDt
  Langueenglish')
• www.sensory.com
• www.vexlabs.com