Modularized Robotic Arm

Kevin Bradshaw
Yuan Tian
Fuhua Song
Zhengshuai Zhang

INTERFACE CONTROL DOCUMENT

REVISION Draft
23 February 2016

INTERFACE CONTROL DOCUMENT

FOR

Modularized Robotic Arm

PREPARED BY:

_____________________________
Author
Date

APPROVED BY:

_____________________________
Project Leader
Date

_____________________________
Dr. Sam Villareal
Date

_____________________________
T/A
Date

Interface Control Document

Project Name

Revision -

Change Record
Rev. Date
2/23/16

Originator
Kevin Bradshaw

Approvals

Description
Draft Release

II

Interface Control Document

Project Name

Revision -

Table of Contents
Table of Contents .............................................................................................................. III
List of Tables ..................................................................................................................... IV
List of Figures ..................................................................................................................... V
1. Overview ....................................................................................................................... 1
2. References and Definitions ......................................................................................... 2
2.1. References.............................................................................................................. 2
2.2.
3.

Physical Interface ........................................................................................................ 3

3.1. Weight ..................................................................................................................... 3
3.2.

6.

Dimensions ............................................................................................................. 3

3.2.1

Dimension of the Robotic arm .............................................................................. 3

3.2.2

Dimension of the User Interface ........................................................................... 4

3.3.
4.
5.

Definitions ............................................................................................................... 2

Mounting Locations ................................................................................................. 5

Thermal Interface ......................................................................................................... 5

Electrical Interface ....................................................................................................... 6
5.1. Primary Input Power ................................................................................................ 8
5.2.

Polarity Reversal ..................................................................................................... 8

5.3.

Signal Interfaces ..................................................................................................... 8

5.4.

Video Interfaces ...................................................................................................... 8

5.5.

User Control Interface ............................................................................................. 8

Communications / Device Interface Protocols .......................................................... 9

6.1. Wireless Communications (Wi-Fi) ........................................................................... 9

III

Interface Control Document

Project Name

Revision -

List of Tables
Table 1: PWM Driver Characteristics ................................................................................ 6
Table 2: PWM Driver Pin Descriptions .............................................................................. 6
Table 3: Raspberry Pi 2 Model B Pin Layout .................................................................... 7
Table 4: Panda Wireless Module Characteristics ............................................................. 9
Table 5: Microsoft Kinect Characteristics ...................................................................... 10

IV

Interface Control Document

Project Name

Revision -

List of Figures
Figure 1: Robotic Arm Physical System ........................................................................... 3
Figure 2: Kinect System ..................................................................................................... 4
Figure 3: Envisioned Glove Controller System ................................................................ 5
Figure 4: Raspberry Pi 2 Model-B Pin Layout .................................................................. 7

Interface Control Document

Project Name

Revision -

1. Overview
The objective of this project is to design and construct a mechanical appendage that is
controlled and operated wirelessly using a custom-designed tracking system. The purpose of
this versatile robotic arm is to aid in emergency situations in which human senses and control
are critical without having a physical person present. This robot would have six different tool
attachments in order to interact with the surrounding environment while keeping the user at
a safe distance. The difference between this robot and conventional robots with extensions
is that this can be controlled wirelessly through simulation solely based on the users
movements while still having the ability to use numerous types of tools. This brings the users
natural movements to the situation combined with machine capabilities so that the problem
can be resolved with a humans direct perspective. Lastly, there would be a mounted utility
belt in front of the arm that would be used to change the application of the hand to different
kinds of projects. Depending on the situation, the utility belt would be able to revolve around
the arm and attach itself to the clamp. This concept combines the mobility of the human arm
and the usability of machines.

Interface Control Document

Project Name

Revision -

2. References and Definitions

2.1. References
AL5D Assembly Guide (Lynxmotion.com)
7 Oct 2009
How does the Kinect 2 Compare To The Kinect 1 (Zugara.com)
9 Dec 2014
Kinect for Windows Sensor Components and Specifications (Microsoft.com)
Mar 2016
Panda Wireless 802.11n Wireless USB Adapter (PandaWireless.com)
Feb 2014
PCA9685 Datasheet (Adafruit.com)
16 Apr 2015
Raspberry Pi 2 GPIO Electrical Specifications (Mosaic Documentation Web)
Mar 2016
Raspberry Pi 2 FAQ (RaspberryPi.org)
Mar 2016
Single Chip 2.4 GHz Transceiver - Nordic Semiconductor (Sparkfun.com)
Mar 2008

2.2. Definitions
mA
mV
mW
FPS
GPIO
Mbps
PWM
SDK
IEEE

Milliamp
Millivolt
Milliwatt
Frames Per Second
General Purpose Input and Output
Megabytes per second
Pulse Width Modulation
Software Development Kit
The Institute of Electrical and Electronics Engineers

Interface Control Document

Project Name

Revision -

3. Physical Interface
3.1. Weight
Robotic Arm: 1.5 lbs.
Kinect: 1.8 lbs.
Raspberry Pi 2 (Including Power Supply): 7.2 Oz.
Raspberry Pi 2 Expansion Board: 4 Oz.
Camera: 14.4 Oz.
Extra hardware components will add approximately 1 to 1.5 pounds of weight.
Total estimated weight: 83.97 to 91.97 Oz. or 5.25 lbs. to 5.75 lbs.

3.2. Dimensions
3.2.1

Dimension of the Robotic arm

When fully extended, the arm can fit in a 19 x 2 x 4 three-dimensional box. As for the total system
overview, every component should fit in a 2.5 cube. The PC and Kinect will not be mounted on the
project but will be placed in a space large enough so that it can read the proper input from the user.

Figure 1: Robotic Arm Physical System

Interface Control Document

Project Name

Revision -

3.2.2 Dimension of the User Interface

1. Kinect
Kinect dimensions:
W x D x H: 11 x 2.5 x 1.5
Kinect Range:
The Kinect has an effective operational range that is between 2.5ft to 13ft, within which it can identify
and track human joints. The Kinect will keep searching for human-like objects if the objects are out of
this range. Its very crucial to set up a constant distance within its operational range when doing the
tests and data collecting so that the data collected is accurate and reliable.

Figure 2: Kinect System

Interface Control Document

Project Name

Revision -

2. Glove
Glove dimensions:
Size: 9 (Large)
Gross Weight: < 8 Oz.

Figure 3: Envisioned Glove Controller System

3.3. Mounting Locations

The robotic arm will be mounted in such a way that the shoulder (largest servo motor) will be
oriented like that of a human arm with axis movement having limits on rotation. This would be so
that the user has complete control over the arm as if it was their own. To do this, a simple mount may
have to be constructed out of wood not exceeding over 40 lbs.

4. Thermal Interface
The sensors and the components of this project will be quite heat resistant to moderate circumstances.
No additional cooling module is necessary nor are heatsinks. However, air ventilation will still be taken
into high priority for some specific components. For the servo motors, these are all exposed and wont
be fitted with any coverings. This allows for more than sufficient airflow to cool the motors. The
raspberry pi microprocessor will also be exposed and not fitted with any covering which allows for the
arm to receive more than adequate cooling.

Interface Control Document

Project Name

Revision -

5. Electrical Interface
PCA9685 16-Channel, 12-Bit PWM Driver
The PCA9685 is a 16-channel LED controller that can be used for PWM outputs at a 12-bit resolution.
It has a typical programmable frequency of 24 Hz to 1526 Hz with a fully adjustable duty cycle. It
operates at a range of 2.3 V to 5.5 V. Using five of these channels, the servo motors of the robotic arm
can be sufficiently controlled by the PWM outputs.
Table 1: PWM Driver Characteristics
Parameter

Min.

Max.

Unit

Supply Voltage

-0.5

6.0

Voltage on I/O Pins

Vss-0.5

5.5

Output Current

25

mA

Ground Supply Current

400

mA

Total Power Dissipation

400

mW

Table 2: PWM Driver Pin Descriptions

Symbol

Type

Description

GND

Supply Ground

Ground

OE

Active Low Output Enable

Input

SCL

Serial Clock Line

Input

SDA

Serial Data Line

Input/Output

VCC

Power Supply Output

Output

V+

Power Supply Input

Input

Raspberry Pi 2 Model B:
Power supply: Raspberry Pi 2 model B is powered by a 5V micro USB. It can supply
600mA/1.2A to downstream USB peripherals, switchable by a firmware setting.
Camera board: requires 250 mA to operate
Input voltage: 3V3 & 5 V
Input current: 750 mA maximum
o 250mA minimum (to supply the camera)
o 3 mA per pin (the Raspberry-Pi 3V3 supply was designed with a maximum current of
3mA per GPIO pin.
6

Interface Control Document

Project Name

1.
2.
3.
4.
5.

Revision -

Output current:
o From 3V3 rail: 50 mA
o From 5V rail: depending on design
GPIO pins: Used as output pins, when the pin is HIGH (on) it outputs 3.3 V (3V3); when
the pin is LOW (off), and it outputs 0V.
Input voltage and output current limitations:
A GPIO pin should never be connected to a voltage source greater than 3.3V and less than 0V.
Never source or sink more than 0.5mA into an input pin.
Should not source/sink more current from the pin than its programmed limit.
Never demand that any output pin source or sink more than 16 mA.
Current source (configurable from 2mA to 16mA) by the outputs is drawn from the 3.3V
supply, which can supply only 50 mA maximum.
Limit current into any capacitive load to a maximum transient current of 16mA.
Video output: HDMI
USB: 4 USB 2.0 connector

Figure 4: Raspberry Pi 2 Model-B Pin Layout

Table 3: Raspberry Pi 2 Model B Pin Layout
Pin name

Pin number

Hardware Notes

GND (Ground)

6,9,14,20,25,30,34,39

5V

2,4

supply through input

polyfuse

3V3

1,17

draw 50mA max

GPIO

3,5,7,8,10,11,12,13,15,16,18,1
9,21,22
23,24,26,29,31,32,33,35,36,37
,38,40

3.3V(Max)

ID_SD

27,28

Interface Control Document

Project Name

Revision -

5.1. Primary Input Power

The primary power source is a 5v external power pack UPG UB1250 Sealed Lead Acid Batteries that
will power the raspberry pi and the servo motors as well as the camera module. The kinect will plugged
into the wall directly and will be taking in 12vs of external power.

5.2. Polarity Reversal

A typical 5 V voltage regulator combined with a diode will be used for battery spikes and reversal from
the power supply.

5.3. Signal Interfaces

The signal used will be Wi-Fi to control the arm and the camera, the button will be controlled by the
radio frequency signal.

5.4. Video Interfaces

The video interface will be an attachable camera directly linked to the raspberry pi through the camera
serial interface. The information processed will be transmitted through the Wi-Fi wireless transmitter
and receiver from the raspberry pi to the computer for the user to visualize.

5.5. User Control Interface

The Raspbian operating system for the Raspberry Pi 2 will be the primary interface that will be utilized
to control the sensors, sending back visual feedback, etc. The Raspbian operating system will be
downloaded from the raspberry pi website and uploaded onto a 32 bit micro SD card that will be
inserted into the Raspberry Pi 2 port.

Interface Control Document

Project Name

Revision -

6. Communications / Device Interface Protocols

Wireless communication will be a key component of this project. Since many of the interfaces such as
the control of the mechanical hand will require as little latency as possible, fast yet reliable wireless
transmission is critical. In order to achieve this goal, we will be utilizing Wi-Fi as the primary
communication for intensive processes that require minimum latency. This includes visual feedback
of the camera system and the control of the mechanical hand. Radio frequency control will also be
utilized for the less intensive, digital control. The buttons on the glove will send a digital signal when
pressed by the user which will determine the tool to be used which would be controlled by the RF
module.

6.1. Wireless Communications (Wi-Fi)

Wi-Fi Connection:
The Wi-Fi module used for the visual feedback and control of the mechanical hand will be the Panda
Wireless PAU06 300Mbps N USB Adapter module. With 300Mbps, it should suffice to take in the
data collected by and transmit this information to the PC. It would also be capable of handling the
instructions transmitted from the PC. One module will be connected to the Raspberry Pi and another
module would be connected to the PC. The module on the PC will be used to turn it into an access
point. This would make the PC essentially into a router of which the module on the Pi would be able
to connect to.
Table 4: Panda Wireless Module Characteristics
Panda Wireless 802.11n
Adapter

Specifications:

Protocol and Standards

IEEE 802.11 b/g or 802.11n

Interface

USB 1.01, USB 2.0

Frequency Band

2.412 ~ 2.4835 GHz

Data Rate

For 802,11n - 150Mbps:

Peak rate: 150Mbps
For 802.11n - 300Mbps:
Peak rate: 300Mbps

Transmit Power

802.11n: 14dBm

Data Security

WEP 64/128, WPA, WPA2, 802.1X

Power Consumption

330mA and 110mA in full Transmit, 290mA and 95mA in full

Receive

Transmission Distance

Indoor: up to 100m
outdoor: up to 300m

Interface Control Document

Project Name

Revision -

Kinect Connection and Data Transmission Method:

The Kinect is connected to a PC with a USB connector, but will also have a typical AC wall adapter
for its supply power. The digital data pre-processed by the Kinect is transmitted through the USB to
the PC. Microsoft Visual Studio integrated with SDK libraries is used to access the data, from where
a designed section of code can process the data again and feed post-processed digital information to
the wireless module, which will eventually send the data to the robotic arm to drive each respective
servo motors.
Table 5: Microsoft Kinect Characteristics
Kinect

Array Specifications

Viewing Angle

43 vertical by 57 horizontal field of view

Vertical tilt range

27

Frame rate (depth and color stream)

30 frames per second (FPS)

Accelerometer characteristics

A 2G accelerometer, with a 1 accuracy upper limit

Sampling Speed

30/sec at maximum

Data Size

Depth Mode: 12Mb/sec

Color Mode: 9Mb/sec

Glove Connection and Data Transmission Method:

The RF module to be used is the nRF24L01. The instructions transmitted by the raspberry pi 2 taken
from buttons are simple digital signals thus this basic module would be sending information directly
to the tools for movement. The glove with integrated buttons is powered by a 9V battery. Buttons when
pushed will generate a digital signal that is sent to an encoder. The encoded signal is then sent to the
RF transmitter, which will process and send to the receiver on the RF module. This received signal
will be decoded and sent to the motor to perform specified tasks.

10