Software

SolidWorks

TODO

Matlab

TODO

Dynamixel Wizard

TODO

Arduino IDE

 TODO

Electronics

Arduino Uno

TODO

This was the micro controller used in controlling our DC motor. 

Motor Driver

TODO

We used an L298N motor controller to control out dc motor.  This allows us to change the direction and magnitude of the DC motor.

Dynamixel AX-12A

TODO - replace below with my words and mention how we previously used a stepper motor (include pic)

The DC motor used was a Greartisan DC 12V 120 RPM Gear Motor.  By looking at the specs sheet, we were able to obtain its angular velocity (RPM → rads/s) and its rated torque (6.37 N*m).  We went with a DC motor because we needed something that is able to go 360 degrees since the release mechanism relies on the motor going the opposite direction for a bit in order to release the loaded spring.software used to adjust original design to account for interference issues and make links work for available hardware.

Matlab

used to simulate the position vectors of the mechanisms that were designed in Solidworks. Also allowed for calculation of angular velocities and magnitude of velocity vectors

Dynamixel Wizard

Robotis program used to control rotation of AX-12 motor

Image Added

Arduino IDE

 software IDE used to upload code to control Stepper motor back when that was used as the input of energy into the system. Testing caused us to move to a differnet energy input system and control software.

Electronics

Dynamixel AX-12A

Robotis servo with stall torque of 1.5 Nm, operating at 12V and 1.5 Amps was used in the final design and build. Had previously used on a grad research project, so was familiar with the setup and software necessary for operation. Full specs can be found here

https://www.trossenrobotics.com/dynamixel-ax-12-robot-actuator.aspx#specifications

U2D2

Device that coverts USB communication to half-duplex protocol, necessary for controlling the Dynamixel servos. Interface between laptop, dynamixel power board, and actual servo

Dynamixel Power Board

power distribution board that provides energy to multiple Dynamixel servos (if multiple were connected). Requires 12V supply

Power Supply

Used a mobile Power Supply with three adjustable settings for varying amounts of voltage and current

Arduino Mega

micro controller used in controlling stepper motor before switch was made to servo

Motor Driver

 L298N motor controller was used to interface the power supply to the control board in order to power and control stepper motor with a 12 Volt input.