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.
EEE MiniMover - The presentation given for the EEE department.
Presentation of the Propeller Controlled MiniMover 5
Presentation of the BS2p40 Controlled MiniMover 5
A large amount of information about the hardware came from a Project Report done by students at the University of Michigan.
Isometric views of the MiniMover 5
MiniMover Gears and Pulleys
Top View of Elbow
Bottom View of Elbow
Top View of Base
Bottom View of Base
Gripper
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
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 motions of forearm
SolidWorks MiniMover 5 exploded animation
SolidWorks gripper exploded animation
SolidWorks files contain all the part and assembly files used to create the MiniMover 5.