Project

# Title Team Members TA Documents Sponsor
31 Movable Robotic Arm Platform
Chenxi Wang
Shihua Zeng
Zhizhan Li
Zhuohao Xu
appendix1.docx
design_document5.pdf
design_document6.pdf
design_document1.pdf
design_document2.pdf
design_document3.docx
final_paper1.pdf
final_paper2.pdf
photo1.png
proposal1.pdf
proposal3.pdf
proposal2.pdf
Jiahuan Cui
# Problem

There will be dangerous waste that generate daily in laboratory or factory. Moving the waste manually can be risky because operator will contact these materials which may be toxic, explosive, radiative, etc. Hence, disposal unit need a better way to remotely take, and transport boxed waste within narrow circumstances like aisle. Meanwhile, they can also remotely place the waste into the disposal device in a specific orientation.

# Solution Overview

Our solution for remote taking, moving, and placing hazardous waste is to build a movable robotic arm platform with somatosensory controller.
- The platform with four non-offset caster wheels can move omnidirectionally without changing chassis orientation, making robot be able to move in narrow space smoothly without making much turn.
- There will be a 6-freedom robotic arm with a suction cup end actuator on platform. The arm can easily get and place the object at any orientation we want.
- The platform has a camera to give real-time video feedback. Operator can refer to the feedback and adjust robotic arm’s movement by moving its hand with somatosensory controller.

# Solution Components

## Omidirectional Chassis
- 4 non offset caster wheels with motor controlling steering
- A camera to give video feed back

## Robotic Arm
- A SCARA type structure providing 3 axes translation freedom
- A RRR structure at the end providing 3 axes rotation freedom
- A suction cup end actuator to suck and drop object

## Controller
- A Jetson Orin Nano miniPC to run the code within ROS
- A specially designed controller with 3 IMU to detect the position change of user’s hand, then mapping the movement to robotic arm.

# Criterion for Success
- The platform can operate smooth omnidirectional translation and rotation.
- The robotic arm can fetch a 200*200*200mm, 600g-700g EVA cubic (we assume it as dangerous material in laboratory) from a 218*218mm square section tunnel precisely.
- The robotic arm can transport the cubic and then placing it into a 240*240*240 mm box whose orientation will varying in 6 axes.
- The operator can easily control the robotic arm remotely with its hand moving and placing the cubic within 40s.

S.I.P. (Smart Irrigation Project)

Featured Project

Jackson Lenz

James McMahon

Our project is to be a reliable, robust, and intelligent irrigation controller for use in areas where reliable weather prediction, water supply, and power supply are not found.

Upon completion of the project, our device will be able to determine the moisture level of the soil, the water level in a water tank, and the temperature, humidity, insolation, and barometric pressure of the environment. It will perform some processing on the observed environmental factors to determine if rain can be expected soon, Comparing this knowledge to the dampness of the soil and the amount of water in reserves will either trigger a command to begin irrigation or maintain a command to not irrigate the fields. This device will allow farmers to make much more efficient use of precious water and also avoid dehydrating crops to death.

In developing nations, power is also of concern because it is not as readily available as power here in the United States. For that reason, our device will incorporate several amp-hours of energy storage in the form of rechargeable, maintenance-free, lead acid batteries. These batteries will charge while power is available from the grid and discharge when power is no longer available. This will allow for uninterrupted control of irrigation. When power is available from the grid, our device will be powered by the grid. At other times, the batteries will supply the required power.

The project is titled S.I.P. because it will reduce water wasted and will be very power efficient (by extremely conservative estimates, able to run for 70 hours without input from the grid), thus sipping on both power and water.

We welcome all questions and comments regarding our project in its current form.

Thank you all very much for you time and consideration!