6 VIRTUAL IMPLEMENTATION - K-Division-2022-2023-EVEN-SEM/Repo-16 GitHub Wiki
6.0 PRESENT SUBSYSTEM
| SUBSYSTEM | NAME |
|---|---|
| 1. | wrist unit |
| 2. | Elbow unit |
| 3. | shoulder unit |
| 4. | Indication |
| The knee unit is involved in walking and is associated with lower part of the robot whereas elbow unit and shoulder unit are involved in pull ups and chest streching and is associated with upper part. Indication unit helps in knowing whether the robot is performing exercise or not. |
6.2 2D sketch's
BODY
LEG
3D PARTS
FACE
HAND
LEG
MOTOR'S
BODY
DUMBLE
BASE
3D MODEL
6.3 FLOW CHART
SHOULDER UNIT
##WRIST UNIT
##ELBOW UNIT
##COMPLETE FLOW CHART
Servo 1,2 are motors used in shoulders. Servo 3,4 are motors used in elbows. Servo 5,6 are motors used in wrist.
6.4 CIRCUIT DIAGRAM
6.4 Bill of Material
| sl.no | components | Name of consumable | Specification | Qty | Fabrication |
|---|---|---|---|---|---|
| 1 | Arduino | OTS | Arduino Mega 2560 | 1 | - |
| 2 | Servo Motor | OTS | SG90 | 2 | - |
| 3 | Servo Motor | OTS | Mg995 | 4 | - |
| 4 | Parts/Body Material | Foam Board | 2mm | - | Blade |
| 5 | Adapter | OTS | 5V | 1 | - |
| 6 | Bread board | OTS | - | 1 | - |
| 7 | Adaptor | OTS | 10 A and 5V | 1 | - |
| 8 | Bluetooth | OTS | HC-05 Bluetooth serial module | 1 | - |
| 9 | Bolts | - | 4-8mm | 20 | - |
| 10 | Body(upper +lower) | - | 2to4 mm thicknessand density 1.18g/cubic cm | - | - |
6.5 MOTOR SIZING
volume of upper body=volume of dumbbell + volume of arms+ volume of main body volume=8cm^3+8cm^3+20cm^3+10cm^3+10cm^3=56cm^3 Density of acrylic sheet=1.18g/cm^3
Motor 1(shoulder ) TOTAL VOLUME=MG 995 box+upper arm+lower arm+SG 90 box+wrist =90.48+4.2+3.66+0.5+1.2=12.01 mass=12.011.18=14.17 TOTAL MASS=14.17+(29)=32.17g mass= 14.17+18=32.17 force= mass9.8 =32.179.8=315.266N T=FrFOS =315.266151.5 =7093.48 N-cm =7.09 kg-cm
MOTOR 2(elbow) Mass=lower arm+wrist+wrist motor=4.86+9=13.86g Force=13.869.8=135.82N T=135.829*1.5=1833.67 N-cm=1.833 kg-cm
MOTOR 3(Wrist) mass=1.41g Force=1.41 9.8=13.81N T=13.811*1.5 =20.71 N-cm =0.02 kg-cm
##CONCLUSION The three motors used are in symmetry on both sides of body.As other parts including head and lower part of body is stationary. And based on the above calculations we conclude to select Tower pro Servo MG 995 model and Tower pro SG-90 of actuator as it is the motor having next highest torque available in market with a torque 10kg-cm operating at 4.8 to 7.2 voltage. For motors at shoulder unit and elbow unit we use Tower pro Servo MG 995 actuator For motor at wrist unit we use Tower pro servo SG-90 actuator
6.6 Adaptor selection
| SI NO | component | voltage requried | current drawn |
|---|---|---|---|
| 1 | Servo motor SG90 | 2 | 30V(5) |
| 2 | Servo motor MG995 | 4 | 30V(5) |
| 3 | Arduino | 1 | 5V |
| For Servo Motor SG 90 |
I = load current * quantity * safety factor
I=650mA x 2 x 1.2
I=1560mA
I=1.56A
Required current adaptor: 5A
Required voltage adaptor: 5V
For Servo Motor MG 995
I = load current * quantity * factor of safety
I=650mA x 4 x 1.2
I=3120mA
I=3.12A
Required current adaptor: 3.5 A
Required voltage adaptor: 5 V
For Servo Motor SG 90
I = load current * quantity * factor of safety
I=650mA x2 x 1.2
I=1560mA
I=1.560A
Required current adaptor: 2 A
Required voltage adaptor: 5 V