Yoyo Magic

1
Yo-yo Magic

• Alan Bivens, Chris Cramer,
• Bernie Durfee, Atsuhiko Sakurai

2
Project Goals

• Create a Robot which can support continuous
  oscillation action
• Model oscillation plans after human
  yo-yoers

3
Sammy the Solenoid

• Major Components
• Solenoid
• Force Sensors
• Comparison with human yo-yoer

4
Sammy goes down!

• Solenoid didnt provide a large enough range of
  motion.
• Attempts at adding a lever to provide a
  mechanical advantage failed.
• Placed the yo-yo at a distance, causing the
  effective weight of the yo-yo to increase.
• Weight of yo-yo at a distance weight of
  mechanical lever gt weight able to be maneuvered
  by the solenoid.

5
Mona the Motor

• Major Components
• Stepper Motor (24V)
• Interface to Computer
• Strip of Infrared Light Emitters and Sensors
• Computer Motor Feedback Control Program

6
Infrared Sensors

• Triggers actions in program
• Determine position of yo-yo
• Essential to determination of when to start
  pulling up the yo-yo

7
Software Control

• Motor control
• Encoder monitoring
• Speed control
• Sensor monitoring
• Edge glitches
• Yo-yo position tracking
• Physical modeling
• Timing

8
Conclusion

• When trying to achieve a certain human motion,
  make sure the actuators chosen can move as the
  human counterpart would.
• When switching directions in a motor, stop the
  motor first.
• Friction between the yo-yo and objects in or on
  the robot causes drastic energy loss which must
  be compensated.