13. Applications and implications¶
This week I worked on defining my final project idea. I looked into the details and prepared a plan to realized its remaining aspects.
What will it do?¶
My project is basically a gesture-controlled soft robotic gripper. It is designed to be controlled in a contactless and distant manner via computer vision.
The soft gripper is 3D printed and incorporates the concept of living hinges to make it flexible. Moreover, the fingers are tied by strings. So, when the string is pulled the finger is bent (I.e. when all fingers are bent = gripping position).
The computer vision part does pose estimation of my fingers and detects which fingers are up and which are down. Then, this information is translated into low level control commands for four servo motors that pull down fingers and actuate the gripper.
Who has done what beforehand?¶
Murtaza’s workshop on YouTube did something similar. But, they created a rigid gripper (not a soft one). Also, their computer vision is more complicated.
What will you design?¶
In essence, my concept is a soft robotic gripper that is gesture-controlled. It is intended to be remotely and contactlessly controlled by computer vision.
I will design the gripper, its holder (which holds the motors), a big containing chamber and the low level control board.
What materials and components will be used? Where will they come from?How much will they cost?¶
Most stuff will be bought from a local electronics store. But, I will use the lab’s Acrylic & 3D printing filament
| Qty | Description | Price (JOD) | Link |
|---|---|---|---|
| 1 | SMD ATmega328P | 8 | https://mikroelectron.com/Product/ATmega328-TQFP-Made-in-USA/ |
| 5 | SMD resistors | 0.05 | https://mikroelectron.com/Product/1206-SMD-resistor-10K/ |
| 3 | SMD capacitors | 0.05 | https://mikroelectron.com/Product/1206-SMD-Capacitor-16values-20pcs-320pcs-10PF-22UF-Samples-Kit/ |
| 5 | SMD LEDs | 0.05 | Available at lab |
| 1 | Voltage Regulator | 0.6 | https://mikroelectron.com/Product/SMD-Voltage-Regulator-5V-LM1117-5-0-SOT-223-75RC-N06B/ |
| 1 | Power Supply | 5 | https://mikroelectron.com/Product/ADAPTER-12V-2A-POWER-SUPPLY-AC-DC/ |
| 4 | Servo Motor | 7 | https://mikroelectron.com/Product/MG90S-Metal-Gear-Mini-Servo-Motor-180-degree/ |
| 1 | NEMA17 Stepper | 14 | https://mikroelectron.com/Product/Stepper-motor-1-8-per-step-1-7-A-0-36-N-m-NEMA17-17HS4401/ |
| 1 | Stepper Driver | 5 | https://mikroelectron.com/Product/A4988-Stepper-Motor-Driver-Original/ |
| 1 | PLA Spool | 20 | Available at lab |
| 1 | Acrylic | 5 | Available at lab |
Sum = 58.25 JOD
What parts and systems will be made?¶
- Gripper
- Gripper Low-level Actuation
- Computer Vision Pose Estimation Model
- Z-axis changing system (to lift gripped objects)
- Gripper Holder (motors holder too)
- Containing chamber
- Wireless control
What processes will be used?¶
- Gripper –> 3D printing
- Gripper Low-level Actuation –> Mechanical Design, Electronics Design
- Computer Vision Pose Estimation Model –> AI Interface System
- Z-axis changing system (to lift gripped objects) –> Mechanical Design, Electronics Design
- Gripper Holder (motors holder too) –> CAD, Laser Cutting
- Containing chamber –> CAD, Laser Cutting
- Wireless control –> Bluetooth
What questions need to be answered?¶
- Is the design and programming of the PCB complicated?
- Is the system integrated?
- Is gesture control practical?
How will it be evaluated?¶
- Computer vision system is accurate
- Gripper holds objects successfully
- The gripper can lift objects
Project Plan¶
- CAD –> 17 April
- Mechanical Design –> 24 April
- 3D printing –> 1 May
- Laser Cutting –> 8 May
- Electronics Design & Production –> 15 May
- AI Interface System –> 22 May
- Bluetooth Communication –> 29 May
- Documentation, Poster, & Video –> 11 June