Aaron Klapheck's Website

Synopsis

The purpose of this project was to gain experience with the MiniMover 5, create a control system for its motions, and to model it both mathematically and virtually. The existing electrical interface was removed and an external one was built. This was done so that the mechanical and electrical engineering departments could take advantage of the MiniMover 5’s mechanical hardware while giving them room to upgrade the electrical control systems.
Modeling of the MiniMover 5 for further analysis was also undertaken. A bond graph of the system was created and entered into a software program from which a mathematical model was generated. Virtual modeling of the MiniMover 5 was performed using SolidWorks to demonstrate how the bond graph corresponds to the physical model.
The software used to control the MiniMover 5 is Spin, the software that comes with the Parallax Propeller microcontroller. As a result of the program, seven processors in the microcontroller were used to gather data from a user and completely control the motions of the MiniMover 5.

Report

MiniMover 5 Report - The complete overview of this project

Presentation

• ME MiniMover - The presentation given for ME 171. Also avaliable in PowerPoint MiniMover.ppt
• EEE MiniMover - The presentation given for the EEE department. Also avaliable in PowerPoint MiniMover.ppt

A large amount of information about the hardware came from a Project Report done by students at the University of Michigan.

For further information about the components of the MiniMover 5 simply hover your mouse over the parts of the arm and a small window will appear giving detailed information. The three motors on the other side of the MiniMover 5 are not shown. These three other motors are the Gripper (motor 6), Wrist Right (motor 4), and Shoulder (motor 2).


Interactive Picture of MiniMover 5

Isometric views of the MiniMover 5

The following are documents about the electrical devices used for this project.

Electrical Hardware

• Step Motor - The data sheet of the Mitsumi stepper motor, functionally identical to the stepper motors used by the MiniMover 5
• Darlington Array - The data sheet of the particular Darlington array used for this project

Propeller Controlled Hardware

The Parallax Propeller Education Kit comes with the electrical components shown below.

For further information about the electrical components of the MiniMover 5 simply hover your mouse over the circuitry and a small window will appear giving detailed information. Click an electrical component to see its product page. Places to mouse over: 3 Darlington Arrays, Propeller, WiiChuck Adapter, and PiezoSpeaker


Interactive Picture of MiniMover 5 Propeller Electrical System

Propeller Controlled Software

There are a number of programs used for this project. The programs in .spin format can be downloaded below. A Read Me file is included to give instructions on how the programs are to be used.
Propeller Source - A zipped file containing a number of .spin files and a read me file.

Basic Stamp Controlled Hardware

In addition to the Propeller, the BS2p40 was used to control the motions of the MiniMover 5. The BS2p40 is a Basic Stamp that has 40 pins instead of the usual 24. The reason this additional microprocessor was used to control the MiniMover 5 is to demonstrate that the Basic Stamp can also be used, so that students in Professor Eke's class can also program the MiniMover 5. The electrical setup for this 40 pin Basic Stamp is shown below.



Basic Stamp Controlled Software

There are a number of programs used for this project. The programs in .bsp format can be downloaded below. A Read Me file is included to give instructions on how the programs are to be used.
BS2p40 Source - A zipped file containing a number of .bsp files and a read me file.

Mathematical

Bond graphs can be created using Simulink through use of the block library BG V.2.1.

SolidWorks

SolidWorks files contain all the part and assembly files used to create the MiniMover 5.

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