Emulate Arm Motion On Robotic Arm: HACKED 2020

Best Hardware Project Winner and 2nd Overall!

Group Members: Dawood Ali (mali2@ualberta.ca), Amro Amanuddein (amanudde@ualberta.ca), Ahmed Sharif Ahmed (asahmed2@ualberta.ca) and Portia Rayner (rayner@ualberta.ca)

Create a lasercut robotic arm which can remotely emulate your own within 24 hours

The physical arm itself is actually the MeArm (https://www.instructables.com/id/Pocket-Sized-Robot-Arm-meArm-V04/) which we lasercut and assembled for the competition. Massive shout out to Dejan author of the article "Arduino and MPU6050 Accelerometer and Gyroscope Tutorial" (https://howtomechatronics.com/tutorials/arduino/arduino-and-mpu6050-accelerometer-and-gyroscope-tutorial/) which showcases a way to use the accelerometer to create a gimbal with the mpu6050. After researching further, this project may have some similarities with gesture controlled robotic arms, but our implementation with multiple accelerometers allows for true motion control. The difference is explained more within running instructions. We based this code off of the tutorial in Dejan's article as well as this article about how to use the mpu6050 (https://playground.arduino.cc/Main/MPU-6050/#short).

Components:

For Initial Design:

-1 x V1 folder

-1 x MPU6050 (accelerometer and gyroscope)

-1 x 330 Ohm Resistor

-1 x Green LED

For Final Design:

-1 x V2 folder.

-2 x MPU6050 (accelerometer and gyroscope)

For both:

-1 x Glove

-2 x arduino Mega2560

-1 x One square foot of acrylic (And access to a lasercutter)

-1 x Grove Touch Sensor (and its respective cord)

-TOBEFILLED IN x male-to-male wires

-TOBEFILLED IN x female to male wires

Wiring Instructions V1:

(Servo-colour-wiring instructions based on SG90 model)

Servo-Claw:

• Brown wire <--> GND
• Red wire <--> 5V
• Yellow wire <--> Digital Pin 6

Servo-Base:

• Brown wire <--> GND
• Red wire <--> 5V
• Yellow wire <--> Digital Pin 5

Servo-Height:

• Brown wire <--> GND
• Red wire <--> 5V
• Yellow wire <--> Digital Pin 9

Servo-Arm:

• Brown wire <--> GND
• Red wire <--> 5V
• Yellow wire <--> Digital Pin 4

Accelerometer MPU6050:

• INT <--> Digital Pin 13
• SDA <--> 20SDA
• SCL <--> 21 SCL
• GND <--> GND
• VCC <--> 5V

Wiring Instructions V2:

---

Arduino 1 - Connected to the robotic arm Arduino 2 - Connected to the glove (Servo-colour-wiring instructions based on SG90 model)

Servo-Claw: Arduino 1

• Brown wire <--> GND
• Red wire <--> 5V
• Yellow wire <--> Digital Pin 6

Servo-Base: Arduino 1

• Brown wire <--> GND
• Red wire <--> 5V
• Yellow wire <--> Digital Pin 5

Servo-Height: Arduino 1

• Brown wire <--> GND
• Red wire <--> 5V
• Yellow wire <--> Digital Pin 9

Servo-Arm: Arduino 1

• Brown wire <--> GND
• Red wire <--> 5V
• Yellow wire <--> Digital Pin 4

Accelerometer MPU6050 (for arm) : Arduino 2

• AD0 <--> Digital Pin 13
• SDA <--> 20SDA
• SCL <--> 21 SCL
• GND <--> GND
• VCC <--> 5V

Accelerometer MPU6050 (for hand) : Arduino 2

• AD0 <--> Digital Pin
• SDA <--> 20SDA
• SCL <--> 21 SCL
• GND <--> GND
• VCC <--> 5V

Transceiver Wiring: one for Arduino 1 and one for Arduino 2

This is the order from the left to the right of the pins starting from the top left pin:

• VCC <-------> 3.3V Pin
• GND <-------> GND Pin on arduino
• CSN <-------> PWM Digital Pin 8
• CS <-------> PWM Digital Pin 7
• SCK <------> Digital Pin 52
• MOSI <------> Digital Pin 51

This wiring is done to the bottom Right Pin.

• MISO -----> Digital Pin 50

The bottom Left Pin remains unwired.

FYI: This wiring is identical to the other Transceiver on the Receiving end. However, the wiring mentioned above is for an Arduino Mega2560

---

Running Instructions V1:

This build is completely wired.

Connect the arduino to your computer via usb and upload winning_project.ino. Rotate your arm (about the axis from your wrist to your elbow) to rotate the base, this could be considered roll. Raise/drop your arm about the perpendicular axis or raise/drop your wrist to control the main arm. Rotate your wrist up/down for 4-5 seconds to change modes (The LED should light up) and now you can control the smaller part of the arm for finer vertical motion. Touch the your index finger to the touch sensor on your thumb to close the claw. Pictures and/or videos coming soon!

Running Instructions V2:

This build allows for wireless motion emulation

This is the wireless version where we overhauled the motion-sensing and no longer require two modes. We didnt have access to a touch sensor so minor modification is necessary to implement that. Control the main arm by moving your whole arm. For example, rotate your arm to rotate the base. Control the secondary joint with your wrist.