20111901 한일환

20091804 김병찬

20091798 김건식

20071223 전우준

20081838 정준영

Capstone Design

Flow chartSep

3rdSep4th

Oct1st

Oct2nd

Oct3rd

Oct4th

Oct5th

Nov1st

Nov2nd

Nov3rd

Nov4th

Dec1st

Dec2nd

Dec3rd

Assembly

MID

TERM

2D Pro-gramming

Vision Pro-gramming

Spring-Back Exp.

Verifica-tion Exp.

3D Pro-gramming

Torsion Pro-gramming

Final Product

Index

1. Purpose of design

2. Check necessary parts

3. Show design

Purpose

- Make 2D shape available

- Specific design of actuator

Needed compo-nents

Prepared compo-nents

- Processor (SbRIO 9601)- 3 Motors (step motor)- Ball screw drive

Parts

Unprepared compo-nents

- 3 Motor drivers- Power supply- Aluminum structure- Others

Parts9601 SbRIO

- National Instruments- 266MHz processor- 128MB storage, 64MB

DRAM- 2M gate I/O FPGA- Ethernet port- 110 DIO

Parts3 step motors

- 2 phases, 1.8deg/step- 3.2V, 2.8A- 1.85N*m holding torque- Linear motion & Roll An-

gle

* 2EA * 1EA

- 5 phases, 0.072deg/phase

- 3.64V, 1.4A- 20N*m holding torque- 1:10 gear ratio- Bending

Parts

* 2EA

- NT-BST2403- 2 phases, PWM- Input voltage : DC

12~30V- Output ampere : 0~2.5A- Linear motion & Roll An-

gleBall screw drive- Realize linear motion by rotary step mo-

tor.

- MD5-HF28- 5 phases- Input voltage : AC

110~220V- Output ampere : 0~5A- Bending

3 motor drivers

Unprepared Parts Power supply

- UP200S12L- 200W 1-Channel- Input : AC 90~132V- Output 1 : DC 12V/16.7A- Output 2 : AC 180~264V

Unprepared Parts

Aluminum structures

Etc.

- Use aluminum profile to make structure.

- Other simple components.

Past

Linear motion

Roll angle

Bending

Wire

Present

Front view

Plan view

Present

Q&A