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| <!DOCTYPE html> | ||
| <html> | ||
| <head> | ||
| <link rel="stylesheet" type="text/css" href="styles.css" /> | ||
| <link | ||
| href="https://fonts.googleapis.com/css2?family=Montserrat:wght@400;700&display=swap" | ||
| rel="stylesheet" | ||
| /> | ||
| <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script> | ||
| <script | ||
| id="MathJax-script" | ||
| async | ||
| src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js" | ||
| ></script> | ||
| <title>EECS106 A Final Project</title> | ||
| </head> | ||
|
|
||
| <body class="pageContents"> | ||
| <nav class="top-bar"> | ||
| <a href="index.html" class="nav-item">Introduction</a> | ||
| <a href="design.html" class="nav-item">Design</a> | ||
| <a href="implementation.html" class="nav-item">Implementation</a> | ||
| <a href="results.html" class="nav-item">Results</a> | ||
| <a href="conclusion.html" class="nav-item">Conclusion</a> | ||
| <a href="team.html" class="nav-item">Team</a> | ||
| <a href="additional.html" class="nav-item">Additional Materials</a> | ||
| </nav> | ||
| <div class="background"> | ||
| <h1 class="backgroundImageTitle"> | ||
| EECS 106A Final Project - Grippy Kasparov | ||
| </h1> | ||
| <p class="backgroundImageText">EECS106A Fall 2024 Team 23</p> | ||
| </div> | ||
| <h2 class="title">Project Design</h2> | ||
| <div class="wrapper"> | ||
| <div class="content"> | ||
| <h3>Design criteria and Desired Functionality:</h3> | ||
|
|
||
| <ul> | ||
| <li> | ||
| The robot arm can pick up and place down a piece correctly as we | ||
| desired. | ||
| </li> | ||
| <li> | ||
| The robot arm need to have the ability to perform its own move base | ||
| on the current game situation so it can play with humans. | ||
| </li> | ||
| <li> | ||
| Perform haptic search so it can pick up the chess pieces accurately | ||
| even if we only have the rough idea of where the piece will be. | ||
| </li> | ||
| <li> | ||
| The robot arm need to detect and deal with the edge cases in chess | ||
| such as upgrading and castling. | ||
| </li> | ||
| <li> | ||
| The robot arm can recognize the current game using machine learing | ||
| and computer vision so we don't need to record the game stats. | ||
| </li> | ||
| </ul> | ||
|
|
||
| <h3>Design Choices and Details:</h3> | ||
| <p> | ||
| Although the game we want the robot arm to perfrom is just a normal | ||
| chess game, since we want to emphasize the idea of smart suction cup. | ||
| We 3D printed our own chess pieces so that it is thin and flat that will | ||
| be hard for a normal grippers to pick up. We also make our own chess | ||
| board by cutting a wooden board that each square of the chess will be | ||
| 3 inch by 3 inch. | ||
| </p> | ||
| </div> | ||
| </div> | ||
| </body> | ||
| </html> | ||
|
|
||
| <!DOCTYPE html> | ||
| <html> | ||
| <head> | ||
| <link rel="stylesheet" type="text/css" href="styles.css" /> | ||
| <link | ||
| href="https://fonts.googleapis.com/css2?family=Montserrat:wght@400;700&display=swap" | ||
| rel="stylesheet" | ||
| /> | ||
| <script src="https://polyfill.io/v3/polyfill.min.js?features=es6"></script> | ||
| <script | ||
| id="MathJax-script" | ||
| async | ||
| src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js" | ||
| ></script> | ||
| <title>EECS106 A Final Project</title> | ||
| </head> | ||
|
|
||
| <body class="pageContents"> | ||
| <nav class="top-bar"> | ||
| <a href="index.html" class="nav-item">Introduction</a> | ||
| <a href="design.html" class="nav-item">Design</a> | ||
| <a href="implementation.html" class="nav-item">Implementation</a> | ||
| <a href="results.html" class="nav-item">Results</a> | ||
| <a href="conclusion.html" class="nav-item">Conclusion</a> | ||
| <a href="team.html" class="nav-item">Team</a> | ||
| <a href="additional.html" class="nav-item">Additional Materials</a> | ||
| </nav> | ||
| <div class="background"> | ||
| <h1 class="backgroundImageTitle"> | ||
| EECS 106A Final Project - Grippy Kasparov | ||
| </h1> | ||
| <p class="backgroundImageText">EECS106A Fall 2024 Team 23</p> | ||
| </div> | ||
| <h2 class="title">Project Design</h2> | ||
| <div class="wrapper"> | ||
| <div class="content"> | ||
| <h3>Functionality:</h3> | ||
|
|
||
| <p> | ||
| The desired functionality starts with the user inputting their desired | ||
| move into the terminal and ends with the robot arm using the suction | ||
| cup gripper to do pick and place operations. The robot arm plays the | ||
| users move as well as a move of its own. To pick up a piece the UR-10 | ||
| robot arm must move its end effector to the appropriate location, | ||
| activate a pull state the suction cup and lower slowly until a seal is | ||
| formed. If the initial attempt to pick up the piece fails, the end | ||
| effector moves toward the most probable location that a seal will be | ||
| formed. The robot arm then moves the piece to the appropriate location | ||
| switching between the suction states as needed. This continues until | ||
| their has been a check mate, or the user surrenders. | ||
| </p> | ||
| </div> | ||
| <img class="noteImage" src="images/System Diagram.png" /> | ||
| <div class="content"> | ||
| <h3>Design Goals:</h3> | ||
| <p> | ||
| The following is a list of our criteria needed for what we considered | ||
| to be a successful implementation of the UR-10 with the smart suction | ||
| cup gripper to play chess: | ||
| </p> | ||
| <ul> | ||
| <li> | ||
| Use computer vision to identify the center of the board and adjust | ||
| mapping of board accordingly. | ||
| </li> | ||
| <li> | ||
| The terminal accepts a user input and returns the next move played, | ||
| resulting in pick and place operation to move pieces according. | ||
| </li> | ||
| <li> | ||
| Upon an unsuccessful suction seal, the UR-10 move the end effector | ||
| towards the most likely location for a better seal. | ||
| </li> | ||
| <li> | ||
| The suction cup should be appropriate state (Push, Pull, Off) | ||
| corresponding to the action or nonaction happening. | ||
| </li> | ||
| <li> | ||
| Consider chess edge cases. (i.e. Capturing, Castling, Promotion) | ||
| </li> | ||
| </ul> | ||
| <p> | ||
| With this combination of design goals, the UR-10 robot arm should be | ||
| able to repeatability and reliably play countless number of chess | ||
| games. Additionally, it was important that we design our chess pieces | ||
| such that it demonstrates appropriate use of haptic feedback search | ||
| using the smart suction cup technology. | ||
| </p> | ||
| </div> | ||
| <div class="content"> | ||
| <h3>Design Decisions</h3> | ||
| <h4>Custom Chess Pieces:</h4> | ||
| <p> | ||
| Our team custom designed flat chess pieces in order to highlight the | ||
| application of haptic search. The pieces were designed using the | ||
| computer-aided design software OnShape, and are pictured below. When | ||
| designing these pieces we ensured there was ample surface area for the | ||
| gripper to form a seal, while adding still some degree of complexity. | ||
| The some pieces have sharp corners and holes making it difficult for | ||
| the haptic search to be successful. Further, we wanted the pieces to | ||
| be light to demonstrate the need for a push state. These pieces are | ||
| light enough such that when the section gripper is in the off state, | ||
| the piece remains attached to the gripper due to a residual vacuum | ||
| left within the system. | ||
| </p> | ||
| </div> | ||
| <img class="noteImage" src="images/Chess pieces.png" /> | ||
| <div class="content"> | ||
| <h4>Hardware and Electronics:</h4> | ||
| <p> | ||
| We built off the system provided by Dr. Jungpyo Lee. Pneumatically, | ||
| the system consisted of a single solenoid to control the flow of air | ||
| to an in line vacuum generator. The solenoid was electronically wired | ||
| to a n-type MOSFET, whose gate pin was controlled by a ESP32 | ||
| microcontroller. In it's initial state, the system had no means for | ||
| pushing air out of the suction cup end effector. Together with Dr | ||
| Jungpyo Lee, we devised a new system which included push. This newly | ||
| devised system saw the addition of 3 more solenoid-MOSFET pairs. The | ||
| updated pneumatic lines and circuit are shown in the image below, | ||
| accompanied by a schematic of the the circuit as well. Initially, we | ||
| experimented with splitting the line using only two solenoids. The | ||
| idea being the solenoids would be on separate lines and activate | ||
| corresponding to being in a push or pull state. This did not work as | ||
| intended air was escaping through the vacuum generator. We decided to | ||
| get the third solenoid to isolate the vacuum generator when going into | ||
| the push state. | ||
| </p> | ||
| </div> | ||
| <img class="noteImage" src="images/Detailed Circuit.png" /> | ||
| <img class="noteImage" src="images/Circuit Diagram.jpg" /> | ||
| <div class="content"> | ||
| <h3>Gameplay</h3> | ||
| <p> | ||
| We out sourced the logic behind the game play to an open-source chess | ||
| engine called Stockfish. Due to hardware limitations we were | ||
| restricted to using older version. We drew up a 24 in x 24 in chess | ||
| board, resulting in squares that were 3 in x 3 in. We decided to hard | ||
| program the location of each squares center, however this does not | ||
| grantee a piece will be in an orientation that can be picked up on the | ||
| first try. Additionally, we programmed in extra locations on the off | ||
| the board for each team to have a graveyard and place where promotion | ||
| pieces can be grabbed from. This way we could handle the common | ||
| capture and the less frequent edge cases like promoting and castling. | ||
| </p> | ||
| </div> | ||
| <img class="noteImage" src="images/Discriptive Board Layout.jpg" /> | ||
| </div> | ||
| </body> | ||
| <footer class="footer"> | ||
| <div class="footer-content"> | ||
| <p>© 2024 Berkeley EECS106A Team 23. All rights reserved.</p> | ||
| <p> | ||
| Github: | ||
| <a href="https://github.com/Jungpyo-L/pushpull_suctioncup_106a" | ||
| >EE106A Push Pull Suction Cup</a | ||
| > | ||
| </p> | ||
| <p> | ||
| Contact: | ||
| <a href="mailto:[email protected]">[email protected]</a> | ||
| </p> | ||
| </div> | ||
| </footer> | ||
| </html> |