Virtual Implementation

4.1 2D SKETCHES OF ALL PARTS

4.2 3D SKETCHES OF ALL PARTS

Full Body Assembly 

4.3 Circuit Diagram

FULL CIRCUIT DIAGRAM

4.4 Flow Chart

INPUT UNIT 

Rotating And Bending Unit

Indication Unit

Full Flow Chart

4.5 Bill Of Materials

Indication unit

Rotating and bending unit

Input unit

Full assembely

4.6 Motor Sizing

Steppar motor sizing

Hand & gear mass = 100 gm=0.1 kg

G=9.8 m/s2  

D=4cm=0.04m

F=m*g

F=0.1*9.8

F= 0.98N

T=(F*D)/2

T=(0.98*0.04)/2

T=0.0196 N.m

T=0.2 kg cm

Tf = T*F.O.S.

Tf = 0.2*1.5

Tf= 0.3 kg.cm

Servo Motor Sizing

M=63gm=0.063kg

G=9.8 m/s2

F=m*g

F=0.6174N

d=2mm=0.0002m

r=0.0001m

T=F*r*1.5

T=0.9261*10-4Nm

T=9.45*10-4Kg-cm

BATTERY SIZING 

Current consumption for each 28byj-48 stepper motor = 240mA

Current consumption for two stepper motor = 480mA

Current consumption for each servo motor = 640mA

Current consumption for 2 servo motor = 1280mA

Total current consumption=(Current consumption for two stepper motor) +(Current consumption for 2 servo motor)

Total current= 1760mA OR 1.76A

Net current for adapter = Total Current * 1.5 = 2.640A