Information for the robot presentation on Tuesday, April 24th

1) Introduction to our task (Needle surgery for liver cancer using Radio Frequency Ablation)
[HOI INTRODUCES THE PRESENTATION AND TEAM. Once we introduce ourselves individually and Chris is the last one to introduce himself, CHRIS STARTS PRESENTING HERE]
 - Overview of the task and main things to consider (Slide of key tasks and provided figure in the assignment)
 - Minimum # of DOF's needed to complete the task (Slide: Minimal 3 DOF (RRP) robot)

[BELAYE STARTS PRESENTING HERE]
2) Robot proposal and design.  
 - Robots considered (PUMA vs SCARA) (Slide: PUMA and SCARA robot)
 - Why we went with our 5 DOF robot (Slide to show robot kinematics and DH parameters)
 - Chosen joints and what they are meant to do
 - Workspace of 5 DOF robot (Slide: heart-shaped workspace)

[HOI STARTS PRESENTING HERE]
3) Specification of the robot and Motor sizing criteria
 - First: chose aluminum alloy material (Slide: Al alloy properties and link lengths)
 - Second: Determined link lengths relative to size of the task
 - Third: Determined motors & gearheads with beam deflection analysis
(Slide: Show beam deflection figure, equation, Second moment of area equation)

[CHRIS STARTS PRESENTING HERE and finishes the presentation]
 - Last: Sensors to consider (Slide: Lengths, Outer Radius, and thickness of links) 

4) Conclusion
 - Overview of our robot and the task
 - Show how the robot joints can be manipulated with Mathematica
[Belaye will show & control it in mathematica]

Note: write our name at the bottom left corner or right corner of the slides as a reference for the class as to who is presenting?

Comment away about anything we would like to add or take away from this list. If this is more or less what we want to talk about, we'll figure out who gets to talk about what in the later part of the coming weekend.

laptop adapter

My iphone camera sucks at closeups so its kinda blurry, but the connects from left to right are:
1) ethernet
2) firewiire
3) usb
4) usb (wireless key)
5) mini DVI

will ur adapter work for this Chris?

Final Report DONE!!

Amazing job guys.  I went through the report and it was honestly impressed.  It wasn't until everything came together in a final document that I realized how detailed we were in our explanations and calculations.  I thought it was very thorough  and covered everything that was required and more.

I made some edits, changed the wording and added a few things to some of the sections.  One of the things I tried to fix was keeping the voice uniform from section to section.  However, I tend to write in past tense and a lot of the report was written in present tense so I tried my best to write any changes in present tense....didn't always work but I doubt she'll care (its not an english course haha).  Excellent job on documenting thought processes for calculations and design objectives.

Take a look if any changes still need to be made we have an hour and a half

Chris

Final Report

I had to separate the Appendix and References from the final report in word because it started crashing. I nearly cried the first time it was crashing, but thankfully all hope was not lost. I did manage to make the page numbers line up so once it's ready to be made into a pdf, we won't have to deal with playing with the page numbers.

Short list before we submit the final report (from what I can remember, please remind me if either of you guys catch something I completely missed):

1. Missing Inverse Kinematics in the Appendix (App # 2) - DONE
2. Missing Page numbers for the table of contents - DONE
3. Missing table for the material (I'll get to that tomorrow morning) - DONE
4. Missing references (I'll get to this too in the morning) - DONE
5. Need to correctly label the appendix numbers and figures and tables in the report

Read it through once to check spelling sometime and let me know what you guys think. Another hour or two and it will be all good to go.

Inverse Kinematics so far

Ok guys heres what I have for the equations.  If I plug in known values for the simplified phi1 and phi2 equations it gets really big but can be done.  I'll leave them as is and write the comments.  Let me know if you want me to plug values in for my placeholders.  If not I think I'll leave them as is because it doesn't look as intimidating.

Inverse Kinematics dead end

So as I discussed with Hoi, Mathematica was unable to reduce my equations to solve for phi1 and phi2.  I also tried doing it by hand but got equations such as cos(phi1) as a function of sin^3(phi1)+bsin^2(phi1)+csin(phi1)/.... needless to say it got really ugly and I was still nowhere near separating phi1 and phi2.  I will try again tomorrow using a reduced form and will also try my original method one more time. I'm pretty exhausted now so I'll post everything tomorrow.

Work Space Dimensions

Here are the dimensions of the work space I have so far.  Is this enough detail?

Workspace (dotted interior) relevant dimensions

Work Space Model Almost Complete

I made some finishing touches on the mathematica workspace model.  These include:

1. included human patient (with liver) (fig 1)
2. made sure scale of patient and liver match scale used for link length and dimensions
3. corrected end effector location Px, Py, Pz readout
4. modified code so link length can be modified by changing one parameter value.
5. included end effector orientation (theta_pith, theta_yaw) readout

Few things to note:

1. Hoi, looking at the model in scale, i changed the first link length (L1) from 75 cm to 50 cm. Try changing the lenght in the mathematica file, tell me what u think. 
2. Chris, may be u can take a look at the theta_pitch, theta_yaw part b/c I don't think they are correct even though I used the method u used in your inverse kinematics calc.  Pls take a look at the mathematicaa file titled "workspaceLATEST" Any thoughts?

Fig 1

Fig 2

Fig 3

Fig 4

Fig 5

Problem with Mathematica!!!!!!

Hey guys so I tried doing the inverse kinematics in Mathematica but I got a weird result.  I will post the code in dropbox so if you have time to look at it could you help me figure out what went wrong.  If I don't hear back by tomorrow 2pm I'll just do the inverse kinematics by hand.

Below is a screenshot of the problem.  As you can see in the output matrix there is a line that says Matrices Transformation + Matrices Transformation ....  Anyway take a look and let me know if you figure out what went wrong.

Inverse Kinematics

Heres the inverse kinematics.  It started off pretty nice but blew up when trying to solve for thi1.

I put the MATLAB code in dropbox that I used to calculate T1e.  The matrix was really big and I couldn't figure out how to print a proper copy so take a look on dropbox if you want to see the entire matrix.

Chris