2. Nov 28-Dec 18
Task 1: Understanding the
problem
Immersion Story
Interview/observation In order to
Person with quadriplegianeeds of users
of… understand…
DaVinci Surgery armshortcomings of
Person with Quadriplegia Needs of users
orthogonal systems
DaVinci Surgery Arm Shortcomings of orthogonal
TIRR wheelchairs (Monday, Jan
systems
28)compatibility concerns
TIRR Rehabilitation Center Compatibility with
(Monday, Jan 28th) wheelchairs
5. Task 4b: Print and evaluate
viability for construction
2 linkages (1 joint) printed on 3-D printer
Plastic deemed viable for construction
6. Task 5a: Research Actuators
Specifications
Actuator
Dimension(in) Torque to Weight Position
Choices
<[1.3x0.8x1.2] ratio (oz) High Sensing
Nema 8 Micro 5.7(@6v):2.82 Not built-in
Stepper 0.79x0.79x0.96 = (but
motor 2.02:1 accurate)
59.7(@6v):0.77 Built-in
HS-5085MG 1.14x0.51x1.18
= positional
Servo
77.53:1 feedback
Built-in
HS-5065MG 30.55(@6v):0.42
positional
Servo 0.92x0.45x0.94 =
feedback
72.73:1
7. Task 5b: Purchase and Test
Selected Actuator
Purchased Hitec HS-
5085 MG Servo
Tested similar servo and
potentiometer
8. Jan 30- Feb 19
Task 6: Create Programming to
Control the Arm
Have begun learning arduino
programming
Created programming to control 1 servo
and read 1 potentiometer
9. Jan 30- Feb 19
Task 7: Construct and test
prototype
Works-like prototype of joint:
Models a hinge-connection method for
joints of the arm
Tests servo mounting strategy
Allows a potentiometer to be used for
positional feedback if required
Unfinished deliverables from previous deliverables period
2 linkages (4th joint from proximal end) printed 10% densityScale?Other specs of print?Tested for viabilityMetal to plastic gluing (JB weld and …..)Drilling and Screwing (cracked with 10% density, worked well with 60% density)