Marionette - Revision history

Victor Liu: /* Main Method */

2009-03-30T02:39:38Z

Main Method

← Older revision		Revision as of 21:39, 29 March 2009
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	</pre>		</pre>
	<br>		<br>
	===Main ~~Method~~===		===Main Function===
	After our routines, we have our Main ~~method~~.		After our routines, we have our Main function.

	<pre>		<pre>

Victor Liu: /* 5 Bar Linkage Construction */

2009-03-30T02:38:48Z

5 Bar Linkage Construction

← Older revision		Revision as of 21:38, 29 March 2009
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	[[Image:manipulator_region.jpg\|right\|thumb\|200px\|Manipulator Region]]		[[Image:manipulator_region.jpg\|right\|thumb\|200px\|Manipulator Region]]
	===5 Bar Linkage Construction===		===5 Bar Linkage Construction===
	Six [[Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor\|Futaba RC servos]] are used in this project. Four are used for the movement of the two arms, and two others are used to move the entire body. Arm movement is accomplished by incorporating a pair of 2 DOF parallel manipulators using the four servos. For each parallel manipulator, two servos placed 1.5 inches apart along the edge of the top platform provide actuation to a 5-bar linkage. Each section of the linkage is made the same length at 3 inches from the point of rotation. With this linkage geometry, the tip of the 5-bar linkage can sweep an area of the X-Y plane that is parallel to the front edge of the structure. Attached to the end tip of the 5-bar linkage is a string that is attached to the wrist of the puppet on the other end. A movement of the manipulator, therefore, generates a corresponding movement of the arm, just like an actual marionette.		Six [[Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor\|Futaba RC servos]] are used in this project. Four are used for the movement of the two arms, and two others are used to move the entire body. Arm movement is accomplished by incorporating a pair of 2 DOF parallel manipulators using the four servos. For each parallel manipulator, two servos placed 1.5 inches apart along the edge of the top platform provide actuation to a 5-bar linkage. Each section of the linkage is made the same length at 3 inches from the point of rotation. With this linkage geometry, the tip of the 5-bar linkage can sweep an area of the X-Y plane that is parallel to the front edge of the structure. Attached to the end tip of the 5-bar linkage is a string that is attached to the wrist of the puppet on the other end. A movement of the manipulator, therefore, generates a corresponding movement of the arm, just like an actual marionette. See the Links section for other linkages that we explored.


	Other types of complex linkages were explored that could provide a pure, straight-line motion. However, no linkage could provide both pure horizontal and vertical motions using two actuators. See the Links section for other linkages that we explored.

	[[Image:stage_top.jpg\|right\|thumb\|200px\|Top of the stage, showing the arrangement of the 6 servos]]		[[Image:stage_top.jpg\|right\|thumb\|200px\|Top of the stage, showing the arrangement of the 6 servos]]

Victor Liu: /* Overview */

2009-03-20T08:57:21Z

Overview

← Older revision		Revision as of 03:57, 20 March 2009
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	==Overview==		==Overview==
	The goal of this project was to make a marionette that could move in a 2D plane via motors. Our group decided to show movement by programming 5 different routines, each controlled by a button press. We used a 5 bar linkage with 2 RC Servos to motivate each arm with 2 degrees of freedom, and also added one RC Servo to each shoulder of the figure to allow it to rise off the ground, giving the appearance of moving its feet. Our puppet was a [[:image:Gijoe_datasheet.jpg\|GIJoe ~~doll~~]], whose joints we modified for easier motion. Also, we modeled the servo frame to resemble a stage for added effect. Our 5 routines were:		The goal of this project was to make a marionette that could move in a 2D plane via motors. Our group decided to show movement by programming 5 different routines, each controlled by a button press. We used a 5 bar linkage with 2 RC Servos to motivate each arm with 2 degrees of freedom, and also added one RC Servo to each shoulder of the figure to allow it to rise off the ground, giving the appearance of moving its feet. Our puppet was a [[:image:Gijoe_datasheet.jpg\|GIJoe action figure]], whose joints we modified for easier motion. Also, we modeled the servo frame to resemble a stage for added effect. Our 5 routines were:

	* [http://www.youtube.com/watch?v=eRolRlvKmyI Hula Dance]		* [http://www.youtube.com/watch?v=eRolRlvKmyI Hula Dance]

Victor Liu: /* 5 Bar Linkage Construction */

2009-03-20T08:40:18Z

5 Bar Linkage Construction

← Older revision		Revision as of 03:40, 20 March 2009
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	[[Image:manipulator_region.jpg\|right\|thumb\|200px\|Manipulator Region]]		[[Image:manipulator_region.jpg\|right\|thumb\|200px\|Manipulator Region]]
	===5 Bar Linkage Construction===		===5 Bar Linkage Construction===
	Six [~~http://hades.mech.northwestern.edu/wiki/index.php/~~Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor RC servos] are used in this project. Four are used for the movement of the two arms, and two others are used to move the entire body. Arm movement is accomplished by incorporating a pair of 2 DOF parallel manipulators using the four servos. For each parallel manipulator, two servos placed 1.5 inches apart along the edge of the top platform provide actuation to a 5-bar linkage. Each section of the linkage is made the same length at 3 inches from the point of rotation. With this linkage geometry, the tip of the 5-bar linkage can sweep an area of the X-Y plane that is parallel to the front edge of the structure. Attached to the end tip of the 5-bar linkage is a string that is attached to the wrist of the puppet on the other end. A movement of the manipulator, therefore, generates a corresponding movement of the arm, just like an actual marionette.		Six [[Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor\|Futaba RC servos]] are used in this project. Four are used for the movement of the two arms, and two others are used to move the entire body. Arm movement is accomplished by incorporating a pair of 2 DOF parallel manipulators using the four servos. For each parallel manipulator, two servos placed 1.5 inches apart along the edge of the top platform provide actuation to a 5-bar linkage. Each section of the linkage is made the same length at 3 inches from the point of rotation. With this linkage geometry, the tip of the 5-bar linkage can sweep an area of the X-Y plane that is parallel to the front edge of the structure. Attached to the end tip of the 5-bar linkage is a string that is attached to the wrist of the puppet on the other end. A movement of the manipulator, therefore, generates a corresponding movement of the arm, just like an actual marionette.

Victor Liu: /* Primary Components */

2009-03-20T08:39:43Z

Primary Components

← Older revision		Revision as of 03:39, 20 March 2009
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	<tr><td>1</td><td>8-bit Microchip PIC microcontroller</td><td>		<tr><td>1</td><td>8-bit Microchip PIC microcontroller</td><td>
	[http://ww1.microchip.com/downloads/en/DeviceDoc/39631a.pdf 18F4520]</td><td>[http://www.microchipdirect.com/ProductSearch.aspx?Keywords=PIC18F4520 Microchip]</td></tr>		[http://ww1.microchip.com/downloads/en/DeviceDoc/39631a.pdf 18F4520]</td><td>[http://www.microchipdirect.com/ProductSearch.aspx?Keywords=PIC18F4520 Microchip]</td></tr>
	<tr><td>6</td><td>Futaba RC servo motor</td><td>[[Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor~~\|Futaba~~\|S3004]]</td><td>[http://www3.towerhobbies.com/cgi-bin/wti0001p?&I=LXVW07 Tower Hobbies]</td></tr>		<tr><td>6</td><td>Futaba RC servo motor</td><td>[[Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor\|S3004]]</td><td>[http://www3.towerhobbies.com/cgi-bin/wti0001p?&I=LXVW07 Tower Hobbies]</td></tr>
	<tr><td>5</td><td>4.75K ohm 1/4W 1% metal film resistor</td><td>475KXBK</td><td>[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=475KXBK-ND Digikey]</td></tr>		<tr><td>5</td><td>4.75K ohm 1/4W 1% metal film resistor</td><td>475KXBK</td><td>[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=475KXBK-ND Digikey]</td></tr>
	<tr><td>5</td><td>Momentary push-button switch</td><td>26622PS</td><td>Jameco</td></tr>		<tr><td>5</td><td>Momentary push-button switch</td><td>26622PS</td><td>Jameco</td></tr>

Victor Liu: /* Primary Components */

2009-03-20T08:39:21Z

Primary Components

← Older revision		Revision as of 03:39, 20 March 2009
Line 70:		Line 70:
	<tr><td>1</td><td>8-bit Microchip PIC microcontroller</td><td>		<tr><td>1</td><td>8-bit Microchip PIC microcontroller</td><td>
	[http://ww1.microchip.com/downloads/en/DeviceDoc/39631a.pdf 18F4520]</td><td>[http://www.microchipdirect.com/ProductSearch.aspx?Keywords=PIC18F4520 Microchip]</td></tr>		[http://ww1.microchip.com/downloads/en/DeviceDoc/39631a.pdf 18F4520]</td><td>[http://www.microchipdirect.com/ProductSearch.aspx?Keywords=PIC18F4520 Microchip]</td></tr>
	<tr><td>6</td><td>Futaba RC servo motor</td><td>[~~http://hades.mech.northwestern.edu/wiki/index.php/~~Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor S3004]</td><td>[http://www3.towerhobbies.com/cgi-bin/wti0001p?&I=LXVW07 Tower Hobbies]</td></tr>		<tr><td>6</td><td>Futaba RC servo motor</td><td>[[Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor\|Futaba\|S3004]]</td><td>[http://www3.towerhobbies.com/cgi-bin/wti0001p?&I=LXVW07 Tower Hobbies]</td></tr>
	<tr><td>5</td><td>4.75K ohm 1/4W 1% metal film resistor</td><td>475KXBK</td><td>[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=475KXBK-ND Digikey]</td></tr>		<tr><td>5</td><td>4.75K ohm 1/4W 1% metal film resistor</td><td>475KXBK</td><td>[http://search.digikey.com/scripts/DkSearch/dksus.dll?Detail&name=475KXBK-ND Digikey]</td></tr>
	<tr><td>5</td><td>Momentary push-button switch</td><td>26622PS</td><td>Jameco</td></tr>		<tr><td>5</td><td>Momentary push-button switch</td><td>26622PS</td><td>Jameco</td></tr>

Victor Liu: /* Data Sheets */

2009-03-20T08:38:16Z

Data Sheets

← Older revision		Revision as of 03:38, 20 March 2009
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	*[http://ww1.microchip.com/downloads/en/DeviceDoc/39631a.pdf Microchip PIC18F4520 Data Sheet]		*[http://ww1.microchip.com/downloads/en/DeviceDoc/39631a.pdf Microchip PIC18F4520 Data Sheet]
	*[Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor\|Futaba S3004 standard ball bearing RC servo motor]		*[[Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor\|Futaba S3004 standard ball bearing RC servo motor]]
	*[[:image:Gijoe_datasheet.jpg\|GIJoe Ninja Datasheet]]		*[[:image:Gijoe_datasheet.jpg\|GIJoe Ninja Datasheet]]

Victor Liu: /* Data Sheets */

2009-03-20T08:36:29Z

Data Sheets

← Older revision		Revision as of 03:36, 20 March 2009
Line 380:		Line 380:

	*[http://ww1.microchip.com/downloads/en/DeviceDoc/39631a.pdf Microchip PIC18F4520 Data Sheet]		*[http://ww1.microchip.com/downloads/en/DeviceDoc/39631a.pdf Microchip PIC18F4520 Data Sheet]
	*[~~http://hades.mech.northwestern.edu/wiki/index.php/~~Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor Futaba S3004 standard ball bearing RC servo motor]		*[Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor\|Futaba S3004 standard ball bearing RC servo motor]
	*[[:image:Gijoe_datasheet.jpg\|GIJoe Ninja Datasheet]]		*[[:image:Gijoe_datasheet.jpg\|GIJoe Ninja Datasheet]]

Victor Liu: /* Data Sheets */

2009-03-20T08:35:36Z

Data Sheets

← Older revision		Revision as of 03:35, 20 March 2009
Line 381:		Line 381:
	*[http://ww1.microchip.com/downloads/en/DeviceDoc/39631a.pdf Microchip PIC18F4520 Data Sheet]		*[http://ww1.microchip.com/downloads/en/DeviceDoc/39631a.pdf Microchip PIC18F4520 Data Sheet]
	*[http://hades.mech.northwestern.edu/wiki/index.php/Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor Futaba S3004 standard ball bearing RC servo motor]		*[http://hades.mech.northwestern.edu/wiki/index.php/Actuators_Available_in_the_Mechatronics_Lab#Futaba_S3004_standard_ball_bearing_RC_servo_motor Futaba S3004 standard ball bearing RC servo motor]
	*[~~http~~:~~//hades.mech.northwestern.edu/wiki/index.php/Image~~:Gijoe_datasheet.jpg GIJoe Ninja Datasheet]		*[[:image:Gijoe_datasheet.jpg\|GIJoe Ninja Datasheet]]

Victor Liu: /* Overview */

2009-03-20T08:34:52Z

Overview

← Older revision		Revision as of 03:34, 20 March 2009
Line 11:		Line 11:

	==Overview==		==Overview==
	The goal of this project was to make a marionette that could move in a 2D plane via motors. Our group decided to show movement by programming 5 different routines, each controlled by a button press. We used a 5 bar linkage with 2 RC Servos to motivate each arm with 2 degrees of freedom, and also added one RC Servo to each shoulder of the figure to allow it to rise off the ground, giving the appearance of moving its feet. Our puppet was a [[:image:Gijoe_datasheet.jpg\|GIJoe doll]~~] [http://hades.mech.northwestern.edu/wiki/index.php/Image:Gijoe_datasheet.jpg GIJoe doll~~], whose joints we modified for easier motion. Also, we modeled the servo frame to resemble a stage for added effect. Our 5 routines were:		The goal of this project was to make a marionette that could move in a 2D plane via motors. Our group decided to show movement by programming 5 different routines, each controlled by a button press. We used a 5 bar linkage with 2 RC Servos to motivate each arm with 2 degrees of freedom, and also added one RC Servo to each shoulder of the figure to allow it to rise off the ground, giving the appearance of moving its feet. Our puppet was a [[:image:Gijoe_datasheet.jpg\|GIJoe doll]], whose joints we modified for easier motion. Also, we modeled the servo frame to resemble a stage for added effect. Our 5 routines were:

	* [http://www.youtube.com/watch?v=eRolRlvKmyI Hula Dance]		* [http://www.youtube.com/watch?v=eRolRlvKmyI Hula Dance]