iRobot, Prosthetic Arm, and Rescue Robot

iRobot, Prosthetic Arm, and
Rescue Robot
Group 4
Adrian Burke
Darren Draper
Collin Palmer
Max Reinisch
Viyat Jhaveri
Can Gurkan
The Plan
iRobot◦ We first had to understand the basic
programming skills so that we could be able
to understand the code that was given to us.
◦ Naranjan versed us on the basics of the
iRobot and we got a better idea of basic
programming and functions
◦ We had to be able to write a section in the
programming so that the robot could meet
the specifications for the required task.
The Plan cont.
Rescue Robot◦ We first had to figure out a design that would
fit the environment that it would have to
◦ After, we had to program the robot so that it
could make it through the course by following
a black line of tape and be able to avoid
obstacles and return to the tape.
◦ We used a basic three-wheeled design that
was capable of handling the decline on the
rugged stairs and maneuver on the black line
The Plan cont.
Prosthetic Arm We started with a flow chart to design
the functions of each motor on the robot
 After, we created a large base and truss
design at a 90 degree angle to start the
 We only used motors because a pulley
system was less reliable, and the sensors
weren’t functioning when we tested them
The Process
iRobot The process for creating the iRobot was
working closely with Niranjan to
understand the code, fix code to correct
small miscalculations, and then constantly
test and re-test the iRobot to make sure
it met all of the specifications
 This process was a very important
process when reading and re-writing code
to correct very small errors
The Process cont.
Rescue RobotWe used a basic three-wheeled design to scale
the stairs and a large base on the robot to
maintain stability
 With the large amount of experience with Lego
Mindstorms, this robot didn’t require much
planning or design
 The most labor-intensive part of this robot was
programming it to make turns and follow the
black line
 We used a touch sensor to detect obstacles and
a distance sensor on the back to make sure
people can follow the robot
The Process cont.
Prosthetic Arm:
We created the basic truss and base design and then
added the cross bars for the moving gears on the
shoulder joint
Once finished, we added the elbow and forearm with
another motor with extra support
We constructed the hand separately and only used one
motor on the two fingers to grasp the cup
We finally connected the two pieces and began testing,
remodeling, and programming the prosthetic arm
Principles Used
For the prosthetic arm, we used basic
principles of weight distribution and
simple machines to create a strong
 The principles we learned from levers
was helpful when adding the
counterweight after we tested the arm
 We decided not to use a pulley-system in
order to keep the design simple and
maintain structural integrity
Principles cont.
For the iRobot, we used many principles
from computer engineering. With the
help of Niranjan, we learned how to use
programming language and apply code to
the robot
 We found that the most important
principle was patience
◦ We constantly had to recalibrate the robot
and change code according to the testing we
Principles Cont.
In the rescue Robot, we used the basic
principles of stability and weight
distribution when constructing the robot
 We also applied the basic programming
principles and flow charts when designing
the programs
Everyone’s Jobs
We split the three robots between the six group members.
Builder and head programmer for prosthetic arm
Head designer and builder for prosthetic arm, help with powerpoint
Programmer for iRobot
Builder and head programmer for rescue robot.
Head builder for rescue robot.
Documents and assistance for iRobot and search robot.
Head programmer for iRobot
Successes and Challenges
In the iRobot, starting the program was
challenging and very difficult to comprehend.
◦ Eventually, with Niranjan’s help, we were
successful in creating and understanding a
successful program.
In the search Robot, building was fast and
simple. Unfortunately, creating a successful
program was challenging and required the
collaboration of other groups, but eventually
Successes and Challenges cont.
The prosthetic arm had many challenges.
◦ We had a solid design, but created a few
limitations on motion when we connected the
◦ After making many minor, but very important
changes to the design, we were able to create
a strong system by moving and removing
parts to create more space
◦ Furthermore, the programming was
challenging and took a lot of time when
applying the new programs
Obstacles and how
We Overcame Them
For the rescue robot, there were fewer
major problems in our design and
◦ We had trouble turning right and getting the
robot to stay on course so we constantly
rewrote the programs until we found one that
◦ We also needed to make a wheel and base
design that was big enough to overcome the
problem with scaling the stairs and creating
Obstacles and how
We Overcame Them cont.
For the iRobot, our biggest problem was
understanding the code
◦ Niranjan helped us understand and apply the
code to the robot to perform all of the
specified functions
◦ After we overcame the basic problem of
coding, we made minor changes to perfect its
Obstacles and how
We Overcame Them cont.
For the Prosthetic arm, the biggest obstacle
was the programming process.
◦ We anticipated an easier programming process
after spending a lot of time on designing and
creating a strong system
◦ The brains and sensors didn’t always function or
perform as we had planned and we had to change
our design because of that
◦ We also needed to add a large amount of
counterweight because of our heavy hand and we
had to relocate the cross bars to increase motion
How We Would Improve
If we had more time to build the rescue
robot, we would have spent more time on
the initial design process.
◦ We would use a flow chart and carefully plan
out each task the robot would have to
overcome before we start programming
◦ It would have also been helpful to have the
search robot course in the same room as the
computer, eliminating time spent walking
between rooms.
How We Would Improve cont.
We would like to study and understand how
to robots functions and programming for
some time before we begin programming
the robot
◦ This would make the programming process faster
and more successful
We would have improved the iRobot by
making a program to completely retrace its
steps once it found a person.
◦ Although this would require at least an extra day
to program, it would create a better and more
applicable robot to the designated tasks
How We Would Improve cont.
We would have improved the prosthetic
arm by making a lighter hand so we could
use fewer counterweights.
 We would also redesign the basic
structure of the elbow to give the robot
more flexibility and capability
 If we had time, we would try to limit our
motors and parts to the bare minimum to
create a cost-efficient and strong system
Lessons Learned
We all learned how the distribution of a
work can expedite the entire process
 We also learned that we should never
anticipate any process to be easy and
expect there to be bugs in all processes.
 Furthermore, although we are competing
with the other groups to create the best
product, we found that intra-team
collaboration came in handy
If We Had to Repeat the Project
If we were to re-do the project, we would
make sure that all of our modules work at
their best
 We would also try to spend more time
learning about programming all of the robots
as a team so we could help each other
program after construction and expedite the
 We would maintain our design process and
attack for the project because our group
work and distribution of tasks was successful
Thank You

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