UNIVERSITY OF PENNSYLVANIA
97-98 Robotic Arm team
Darnel and I work for Professor Kumar, under the guidance
of graduate student Tom Sugar. Together Darnel and I have created detailed
designs for a robotic arm-type manipulator to assist handicapped people
in daily activity. We do most of our work at the General Robotics and Active
Lab at 3401C walnut street or in the General Motors Lab in Towne building.
Originally designed for mounting on a wheelchair, the
first arm the previous years Gateway
Coalition project was designed and built as a concurrent engineering
project with shared responsibilities between five schools:
1. University of Pennsylvania
Jersey Institute of Technology
Penn has set aside time on Wednesday evenings from 6:00
to 7:30pm for video conferencing with other schools in the project.
Currently, Darnel and I are continuing our work on our
privately(Professor Kumar) funded arm as well as participating in this
years Gateway Coalition Project, which will again be an arm type manipulator.
Since we have designed our private arm to be an improvement over last years
Gateway arm, we are hoping that this year our design will be selected as
the best design for the Gateway arm. In any case, our arm prototype will
be hopefully completed by the end of the semester.
Check out our parts list.
Some of the latest parts have not been added yet, however, all parts are
now in house.
Drawings of the assembly in Pro Engineer and here and here and the complete design
See some of Darnel's incredible 3D Pro-Engineer drawings here.
Also, you can see some of my calculations here.
More calculations can be seen for determining
which DC servo motors from Micro Mo
we will use to achieve the design specs made in Drexels design for the
lower arm direct-drive wrist.
Click here for the latest, week
to week report on our progress and goals.
See our Phase 1 report.