20111901 한일환 20091804 김병찬 20091798 김건식 20071223 전우준 20081838 정준영...

20111901 한일환

20091804 김병찬

20091798 김건식

20071223 전우준

20081838 정준영

Capstone Design

Flow chartSep

3rdSep4th

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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