P16227: Inflatable Robotic Hand
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Subsystem Design

Table of Contents

Detailed Design Documents

Team Vision for Subsystem-Level Design Phase

Our primary objective in this phase was to prototype and analyze our 3 subsystems which were the Control, Navigation, and Force Actuation. For each subsystem, we came up with different proof-of-concepts for different designs, which we then benchmarked and chose the best design to move forward with.

Control: H-bridge, Motor drivers, Solenoid drivers,

Navigation: Motors, Chassis, Wheels, Gearbox, BOM

Force Actuation: Solenoid valves, Flow loop design, Arm designs, Hand, BOM

Sub-Subsystem Design & Engineering Requirements

border|Subsystem Archetecture

border|Subsystem Requirements

Feasibility: Prototyping, Analysis, Simulation

Control:

Micro-controller:

Peripherals:

Power Regulators:

Locomotion:

Structural: border|CAD

Force Actuation:

Arm:

Finger:

Pressure Distribution:

Inputs and Source

  1. Engineering Requirements
  2. Concept Selection
  3. System Architecture

Outputs and Destination

  1. A list of Design Parameters, Quantified Targets, and acceptable tolerances
  2. Sensitivity analysis
  3. Concept Selection

Drawings, Schematics, Flow Charts, etc.

Air System Schematic

public/Photo Gallery/Air_System_Schematic.PNG

Valve Positioning:

Valves
Task A B C D E F
Tank Fill 0 0 0 1 0 0
Arm Inflation 0 1 0 0 1 0
Finger Inflation 0 1 1 0 0 0
Finger Deflation 1 0 1 1 0 1
Arm Deflation 1 0 0 1 1 1
Pressure Release 0 0 0 1 0 0

Bill of Materials (BOM)

Navigation:
QTY Description Supplier Cost ($)
----- ------------Structural------------ ------------ ----------
6 30” Aluminum C-Channel Andymark $18/ea
8 C-Base Aluminum Corner Andymark $4/ea
42 ¼” - 20 Hex Head Bolts N/A $14
----- ------------Locomotion------------ ------------ ----------
2 2.5” CIM Motor Andymark $28/ea
2 Toughbox 14.88:1 Gear Box Andymark $75/ea
4 4” Rubber Treaded Wheel Andymark $4/ea
2 ½” x 4” Free Axle N/A N/A
2 Direct Drive Collar N/A N/A
2 3’ Drive Chain N/A N/A
2 Sprockets for Chain Drive N/A N/A
Air System:
QTY Description Supplier Cost per Part($) Link
1 Compressor AndyMark 69.00 Link
1 Check Valve McMaster 17.03 Link
2 Air Tank AndyMark 16.00 Link
8 1-Way Solenoid Valve RIT 0 N/A
1 2-way Soleniod Valve RIT 0 N/A
17 Soleniod Valve Connector RIT 0 N/A
2 Pressure Regulator RIT 0 N/A
2 2-Outlet Manifold McMaster 22.94 Link
6 1/4" NPT Compression Fitting McMaster 1.35 Link
4 1/8" NPT Compression Fitting McMaster 1.30 Link
25 ft. 1/4" OD Polyethylene Tubing McMaster 0.10 per foot Link
25 ft. 1/8" OD Polyethylene Tubing McMaster 0.05 per foot Link

Risk Assessment

Updated Risk Assessment

Plans for next phase

public/Project Management/planning/Project_Plan_wks10_12.PNG

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