Project

# Title Team Members TA Documents Sponsor
8 Guided Robotic Manipulator for Chinese Calligraphy
 Nuoer Huang
Xinyi Shen
Xirui Yao
Yujie Wei
 Meng Zhang
#### PROBLEM:

Traditional Chinese calligraphy is a sophisticated art form that demands meticulous control over three-dimensional movement, tip pressure (stroke depth), and fluid velocity. Currently, most robotic manipulators are designed for rigid industrial tasks and struggle to replicate the "softness" of a brush and the nuanced transitions required for different artistic styles like Kaishu (Regular Script) or Cursive. There is a need for a high-precision system that can translate the aesthetic essence of human calligraphy into robotic motion, preserving cultural heritage through modern ECE technologies.

#### SOLUTION OVERVIEW:

The project aims to design an intelligent robotic manipulator system capable of executing complex Chinese calligraphy. The system provides real-time control over the brush's trajectory and pressing force to achieve varying stroke widths and styles. By integrating advanced motor control algorithms and sensor feedback, the system coordinates multi-axis movements to achieve the necessary stroke dynamics and tip positioning required for traditional calligraphy. It processes digital stroke data and translates it into precise mechanical movements, ensuring the robotic arm can interact with the paper surface with artistic fidelity.

#### SOLUTION COMPONENTS:

####Manipulator Hardware Modules:

-A multi-DOF mechanical structure designed to provide the necessary range of motion and stability for complex characters.

-Utilizing high-torque servo motors to ensure smooth and accurate movement of each joint.

-A specially designed brush holder with an integrated damping or spring mechanism to simulate the flexibility of a human hand.

####Control & Processing Modules:

-A software module used to convert vector-based character paths (SVG/G-code) into synchronized motor angles using inverse kinematics.

-A microcontroller or PC-based system that processes stroke data and coordinates real-time motion commands.

-A feedback loop that manages the Z-axis height to control the contact area between the brush tip and the paper.

####Sensing & Perception Modules:

-Utilizing sensors (such as FSR) to monitor the pressure exerted on the paper in real-time to prevent paper damage.

-Using a camera to calibrate the initial position of the brush and paper, ensuring the writing stays within the designated boundaries.

#### CRITERION FOR SUCCESS:

-Artistic Fidelity: The system must replicate standard characters with a spatial deviation of less than 2mm compared to the digital template.

-Stroke Variation: The manipulator must demonstrate the ability to produce varying stroke thicknesses by dynamically adjusting the Z-axis depth.

-Operational Stability: The system should be able to perform multiple consecutive writing tasks without mechanical failure or recalibration.

-System Integration: The hardware and software must maintain a stable connection with low latency during real-time command transmission.

#### DISTRIBUTION OF WORK:

- ECE STUDENT WEI YUJIE:

Leading the design and assembly of the robotic arm structure and the custom brush end-effector.

Responsible for the physical stability of the manipulator and the selection of mechanical components.

-ECE STUDENT YAO XIRUI:

Implementing the motor driver circuits and the low-level firmware for real-time motor control.

Ensuring precise execution of the joint angles provided by the server.

-EE STUDENT SHEN XINYI:

Developing the inverse kinematics (IK) model and trajectory planning algorithms.

Converting character stroke data into smooth, coordinated motion paths for the arm.

-ME STUDENT HUANG NUOER:

Implementing the vision-based calibration system and the user interface.

Responsible for system-wide integration, data transmission between the server and hardware, and pressure sensor feedback logic.

Prosthetic Control Board

Featured Project

Psyonic is a local start-up that has been working on a prosthetic arm with an impressive set of features as well as being affordable. The current iteration of the main hand board is functional, but has limitations in computational power as well as scalability. In lieu of this, Psyonic wishes to switch to a production-ready chip that is an improvement on the current micro controller by utilizing a more modern architecture. During this change a few new features would be added that would improve safety, allow for easier debugging, and fix some issues present in the current implementation. The board is also slated to communicate with several other boards found in the hand. Additionally we are looking at the possibility of improving the longevity of the product with methods such as conformal coating and potting.

Core Functionality:

Replace microcontroller, change connectors, and code software to send control signals to the motor drivers

Tier 1 functions:

Add additional communication interfaces (I2C), and add temperature sensor.

Tier 2 functions:

Setup framework for communication between other boards, and improve board longevity.

Overview of proposed changes by affected area:

Microcontroller/Architecture Change:

Teensy -> Production-ready chip (most likely ARM based, i.e. STM32 family of processors)

Board:

support new microcontroller, adding additional communication interfaces (I2C), change to more robust connector. (will need to design pcb for both main control as well as finger sensors)

Sensor:

Addition of a temperature sensor to provide temperature feedback to the microcontroller.

Software:

change from Arduino IDE to new toolchain. (ARM has various base libraries such as mbed and can be configured for use with eclipse to act as IDE) Lay out framework to allow communication from other boards found in other parts of the arm.