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KDC Balancing Arm Wiki (16-711, Spring 2007)

Contents 1 Project Overview 2 Mechanical Design 3 Electronics 4 Simulation and Control 5 Media 6 External Resources

[edit] Project Overview

This project aims to create an actively counter-balanced arm which is capable of maintaining balance while rejecting disturbances due to motion of the platform and picking up a small object. The motivation behind this project is to build an assistive manipulator that would be mounted on a Segway-type base to act as a household robot. Typical tasks include picking up objects from a cupboard, opening doors, and taking out the garbage. Team members include John Kua, Katie Rivard, Benjamin Stephens, and Katie Strausser.

[edit] Mechanical Design

• Arm Design
• Gripper

[edit] Electronics

• Hardware
• Software

[edit] Simulation and Control

• Simulation - Control is here, too.

[edit] Media

• Photos
• Presentation
• Flat Report Format - Compiled May 16, 2007

[edit] External Resources

• CMU Balancer Project
• KDC Course Page
• Learn how to edit a wiki