Final Project

  My project idea consisted of a desire to help children with partial paralysis get around in an electric standing frame.
  The idea arose out of my experience working with prosthetics. 
       
  There are many standing frame types, but most of them do not consist any automatic motion. I plane to design a low cost 
  electrical standing frame with embedded system and motors.  

  
 General View
  The model of the standing frame contains fixation straps for the child with a control arm and motors to move it with the 
  ability to be monitored by parents using a mobile application.
The project contains the following:
  * ATtiny44 microcontroller.
  * Motors to move the cart forward and backward.
  * Motor driver to control left and right rotation.
  * Control arm.
  * Bluetooth communication to allow parents to control the standing frame.
  * 6V Battery. 

Software used in this project:
  * SolidWorks to design the frame and circuit cover.
  * Eagle for circuit.
  * Aspire to generate G-code for CNC machine.
  * Arduino IDE for programming.
  * Cura to control 3D printer.
  * fabmodules to generate G-code for the circuit.
Used Machines:
  * CNC router machine.
  * 3D printer.
  * CNC mini.
  * Vinylcutter.

Project Design:
3D Design:
My project design is as following using "SolidWorks":
 
Each part of the frame is designed separately. The detailed steps are described in week8  
   
   
After assembling all parts I get:
 

3D production:
As shown in week8  I used "FEYU-6090" CNC machine to cut the parts. 
I used 12 mm PVC material which is light and solid. This allows the material to carry kid's weight.
 
   

Project Circuit:
In this project I used my own circuit which I design in week7. The circuit contains attiny44 microcontroller.
 

In this project I need four wheels and two motors to move forward & backward and right & left. In my country there are 
little electronics stores and most of my needs are not available. I did not find motors and wheels that may carry kids weight, 
so I try to recycle toy car components. 
 
Before starting disassemble the toy car, I tested the motors to make sure that motors works. The motors are DC motors with 6 volt.

After that I start disassemble the motors.

 
       

       

        

Motor Control Test:
In week13  I tested a circuit to control DC motor direction by usinng twe relays.
The connection diagram and connecton are:
       

This video shows the motor test:


Device Control:
The standing frame has two control methods, First is using JoyStick which is a 
 
Second method is by smart phone via Bluetooth. In week15  I designed an Android application
to control the machine via blurtooth and tested it to turn a relay on and off as show in this video:


Assembling All components:
After testing the motors, connect electronics componenets:
 
Assemble the weels, frame and motors.
  
 
I used 3D printer to print cover for the circuit and the JoyStick.
 
  
First Test:
After that I tested the design with a kid:

To make the frame more save I used lather to design fixation straps.
 


  
Finally: 
  
Presentation Video:



Download Links
3D Design:
Part 1

Part 2

Part 3

Part 4

Part 5

Circuit cover

Joystick

My Circuit Design Files:
The Schematic

The Board

Arduino Code:
The code

Android Application:
Android Application