Design and Improvement Toothbrush Machine for Disable People

(Independent

living)

AVR ATmega32

DC

140 175

75 25

1.

2.

3.

1 1

1.1 1

1.2 2

1.3 2

1.4 2

2 3

2.1 3

2.2 4

2.3 14

2.4 IC L293D 24

2.5 27

3 29

3.1 29

3.2 29

3.3 29

3.4 36

4 39

4.1 39

4.2 39

4.3 49

5 51

5.1 51

5.2 51

52

()

53

. 53

. Data sheet 62

1

1

1.1

(Independent living)

2

1.2

1.2.1

1.2.2

1.2.3

1.2.4

1.2.5

1.3

1.3.1

1.3.2

1.3.3

1.4

1.4.1

1.4.2

1.4.3

3

2

2.1

(Assistive Technology)

[1]

(Independent living)

(Low Technology) (High Technology)

4

1) (Visual Aids)

2) (Hearing Aids)

3) (Writing Aids)

4) (Reading Aids)

5) (Daily Living Aids)

6) (Positioning and Seating)

7) (Computer and Computer Access)

8) (Communication Aids)

9) (Physical and Recreation Aids)

(Assistive Technology)

(Rehabilitation Engineering)

(User Interface) [1]

[2]

Web site

[3] [4]

[5] [6]

2.2

2.2.1

AVR

5

(Microcontroller) (IC: Integrated Circuit)

Port

(CPU: Central Processing Unit)

, /

Microcontroller = Microprocessor + Memory + I/O

(Embedded systems)

1)

2)

3)

4)

5)

AVR

6

2.2.2 AVR

AVR

Atmel AVR RISC core running

RISC 1

ATmega32

2.1 AVR ATmega32

2.2.3

1)

RISC (Reduced Instruction Set Computer) RISC

1 / 1 Clock CPU 1 MIPS / MHz

2) 131

3) Flash Program memory 32

Kbyte (ATmega32)

4) EEPROM Data memory 1024

Byte (ATmega32)

5) SRAM 2K Byte (ATmega32)

6) Analog to digital 10 8 Channel

7) 8 32

8) 8 4

9) (Uart) 1 Channel

7

10) (SPI) 1 Channel

11) 0-16 MHz (ATmega32)

12)

(Power on reset)

13) PWM 4 Channel

14) (Analog comparator)

15) 6 Sleep mode: Adel, Power save and power down

16) Copy (Lock for

software security)

17) CPU (Watchdog timer with on chip

oscillator)

18) (External interrupt)

19) Timer/Counter 8 2 Channel

20) Timer/Counter 16 1 Channel

21) Vcc: 4.5 - 5.5 ATmega32

2.2.4

2.2 [7]

8

8 32

ALU 1 CPU

RISC

2.2.5 BLOCK DIAGRAM

2.3 BLOCK DIAGRAM [8]

9

2.2.6

1) Vcc CPU GND

2) Port A (PA7PA0) 2 8

Pull up Sink 20mA

A Analog to digital

3) Port B (PB7PB0) 2 8

Pull up Sink 20mA

4) Port C (PC7...PC0) 2 8

Pull up Sink 20mA

5) Port D (PD7...PD0) 2 8

Pull up Sink

20mA

6) Reset

7) XTAL 1 OSE

8) XTAL 2 OSE

9) AVcc Analog to digital

10) AREF Analog to digital

11) AGND Analog to digital

2.2.7 CRYSTAL OSCILATOR

XTAL 1 XTAL 2 OSC

Crystal XTAL 1 XTAL 2 Capacitor 2

OSC XTAL 2 Clock XTAL 1

2.4 2.5

10

2.4 OSC MCU [8]

2.5 OSC MCU [8]

2.2.8

8 12

1 Clock MCU

1 Clock R26 - R31

8 6 16 3 X, Y

Z

11

2.6 RISC ATmega32 [7]

ALU

$00 - $1F 32 MCU

64

$20 - $5F

Havard Program

Data Single level pipelining

CPU Fetch Execute 1 Jump Call

Relative 2k/4k 1 16

Bits 1 Word

12

Program Counter (PC) Stack SRAM

Stack

2.7 [8]

2.2.9

2.8 [8]

13

1 Clock SBCI, SUBI, CPI, ANDI ORI

LDI

R6-R31 SBC, SUB, CP, AND OR

2.2.10 X, Y Z

R26...R31

X, Y Z

2.9 X, Y Z [8]

2.2.11

AVR ALU

32 ALU

3

2.2.12 SRAM

MCU 2144 ATmega32

I/O

SRAM 96

2048 ATmega32 SRAM

5 Direct, Indirect with displacement, Indirect with pre-decrement

Indirect with post increment

14

2.3

2.3.1

2

2.10

2.10 [9]

15

2.11 () 2.11 ()

2.11 () 2.11 ()

2.11 () 2.11 ()

()

()

()

()

2.11 [9]

16

(Counter e.m.f. or back e.m.f.) Ec Eb

baa VR

aab RV (2.1)

b = (V)

V = (V)

a = (A)

aR = (Ohm)

2.12

2.12 [9]

17

2.13

1 2.13 ()

90 2 2.13 ()

()

180 3

2.13 () 2

() ()

18

()

2.13 [9]

() 1

() 2

() 3

1 2.14

2.14 [9]

19

()

F 2.2

1F (2.2)

F = (Newton, N)

B = (Weber per

Square meter) (Tesla, T)

l =

(Meter, m)

I = (Ampere, A)

2.2

(Torque) T 2.3

= x

rF (2.3)

T = (Newton-meter, N-m)

r =

(Meter, m)

(Type of direct current motor)

3 (Series motor) (Shunt

motor) (Compound motor)

20

1) (Series motor)

2.15

2.15 [9]

2) (Shunt motor)

2.16

2.16 [9]

3) (Compound motor)

2

21

2

(Short shunt compound motor)

2.17

(Short shunt

cumulatively compound motor)

(Short shunt differentially compound motor)

()

()

2.17 [9]

22

(Long shunt compound motor)

2.18

(Long shunt cumulatively compound motor)

(Long shunt differentially compound motor)

()

()

2.18 [9]

2.3.2

2.1

Part.

number

Voltage

VDC

ZGA37RG

10412

ZGA37RG

26712

2.19 ZGA37RG [10]

VoltageNo-load

speed

No-load

current

Rated

speed

Rated

current

PRM AMP RPM AMP

48 0.1 36 0.271

12 0.1 7 0.271

23

]

Rated

Torque

Stall

Torque

Kg.cm Kg.cm

3.02 4.53

8.36 12.5

24

2.20 [10]

2.21 [10]

2.4 IC L293D

IC L293D (Push-pull four channel driver with diodes)

2 Monolithic

4 DTL

TTL ( )

5 KHz IC L293D

1) 600 mA

2) 1.2 A peak

3)

4) 0 0V 1.5 V

5)

25

2.22 IC L293D [11]

IC L293D

H-Bridge 2 DC 2

IC L293D

2.2 IC L293D

Symbol Parameter Value Unit

sV Supply Voltage 36 V

ssV Logic Supply voltage 36 V

iV Input voltage 7 V

enV Enable voltage 7 V

oI Peak output current (100 S non repetitive) 1.2 A

totP Total power dissipation at 5 W

,stgT Tj Storage and junction temperature -40 to 150 Co

26

2.2 IC L293D [11]

2.3 IC L293D

INPUT ENABLE (*) OUTPUT

H

L

H

L

H

H

L

L

H

L

Z

Z

Z = High output impedance

(*) Relative to the considered channel

2.24 IC L293D [11]

27

2.5

2 3

45

1

45

0.5 1

1 20

1

0 0.5

2.25 [12]

2.26 [12]

28

2.27 [12]

2.28 [12]

2.29 [12]

29

3

3.1

2

2

3.2

3.2.1

1)

2)

3.2.2

1)

2)

3.2.3

1)

2)

3.2.4

1)

2)

3.2.5

1)

3.3

?

30

(

)

3.3.1

3.1

Power

1) M1 (1)

2) M2 (2)

3) M3 (3)

4) Foot SW

, ,

5) Foot SW Foot SW

M2 Foot SW

Foot SW

Power

* * Power

3

31

3.2

3.3.2

3.3

32

3.4

3.3.3

3.5

3.3.4

3.6 AVR ATmega32

AVR

ATmaga32

33

3.7 AVR ATmega32

IC # L293D H - Bridge

Forward

Reveres

3.8

AVR

ATmaga32L293D MOTOR

34

3.3.5

START

SW=M1

LIMIT SW

M1 M1

SW

LED Motor1

YES

1 2

NO

NO

YES

L R

3.9

35

3.9 ()

36

3.4

3.4.1

3

1 4 1, 2, 3

4

1 3

2

3.10 1

2 2

1

1

3.11 2

37

3

2

2

3.12 3

4

3

3.13 4

3.4.2

4

38

3.14

3.4.3

PCB Protel PCB 3.15

3.15 PCB Protel

3.16 PCB

39

4

4.1

3

1)

2)

3)

4.2

4.2.1

3 0 12 V

4.1 4.1 4.3

4.1

40

4.2

4.1 1

(V) (mA) (rpm)

1 0 0 0

2 1 71.3 0

3 2 156.2 0

4 3 32.6 7.9

5 4 33.4 8.8

6 5 34 13.2

7 6 35 15.2

8 7 35.7 17.6

9 8 36.7 21.5

10 9 37.2 27.7

11 10 37.3 29.3

12 11 38.6 30.6

13 12 41 31.1

41

4.2 2

(V) (mA) (rpm)

1 0 0 0

2 1 20 0

3 2 47.2 0

4 3 16 1.4

5 4 16.4 2.1

6 5 16.7 2.3

7 6 16.7 2.7

8 7 16.8 3.5

9 8 16.9 4.1

10 9 16.9 4.5

11 10 17 4.8

12 11 17.4 5.5

13 12 17.6 5.7

4.3 3

(V) (mA) (rpm)

1 0 0 0

2 1 60 0

3 2 118 0

4 3 31 8

5 4 32 8.5

6 5 34 12.3

7 6 35.3 16.1

42

4.3 3 ()

(V) (mA) (rpm)

8 7 36 18.2

9 8 37 22.4

10 9 37.5 25.9

11 10 38 27.8

12 11 39.4 28.1

13 12 40.6 30.7

4.1 4.3

4.2.2

M1 M3

4.3 4.8 4.4

4.3 M1

43

4.4 M1

4.5 M2

4.6 M2

44

4.7 M3

4.8 M3

4.4

M1 M2 M3

1

2

3

4

5

45

4.4

Foot SW M1

4.2.3

5

1

2, 3, 4 5 4.9 4.16 4.5

4.9

4.10

46

4.11

4.12

4.13

47

4.14

4.15

48

4.16

4.5

1

2

3

4

5

4.5

49

4.3

12 V

4.17

4.17

1 5 V, 2 12 V

3 5 V

1 2 3

0

5

10

15

20

25

30

17.26%

22.8%

15.75%

50

4.18

4.18

51

5

5.1

5.1.1

5.1.2 AVR

5.1.3

5.1.4

5.1.5

5.2

5.2.1

5.2.2

5.2.3

52

[1] http://www.rs.mahidol.ac.th/thai/ict/disable-type.html

[2] ,

2549

[3] J. Lazzaro, Helping the Web help the disabled ,, IEEE spectrum, 1999, p. 54-59.

[4] Takano, Junichi; Aomura, Shigeru; Muscle reflection human computer model in

wheelchairs traveling in motor vehicles, 30th Annual International Conference of the IEEE

Engineering in Medicine and Biology Society, 2008, p. 567 572

[5] N.C. Lee and D. Keating Controllers for use by disabled people, Journal of computing and

control, 1994, p.121-124.

[6] W. Silas and N. Hung, Human computer interaction using hand gesture, 2008,

p.2357 - 2360

[7] . 2548. AVR

C win AVR (C Compiler). : .

[8] Somchai Sinprasert, Nave nammonte. 2552. Microcontrollers AVR. []

: http://www.geocities.com/ssilp41/avr.html. (21 2552)

[9] . 2547. (DIRECT CURRENT MACHINES).

: (-).

[10] Zhengk. 2552. DC gear motor (ZGA37RG104, 267). [] :

http://www.zhengke.cn/index.asp. (21 2552)

[11] STMicroelectronics. 2546. PUSH - PULL FOUR CHANNEL DRIVER WITH DIODES

(L293D). [] :

http://www.st.com/stonline/products/literature/ds/1330.htm. (21 2552)

[12] . 2544. . :

.

53

54

.1.

55

.2.

Power

Reset

M3

M1 M2

.3.

56

.4.

.5.

57

.6. Power LED

LED

.7. M1 (LED 1 ) 1

.8. M2 (LED 2 ) 2

58

.9. M3 (LED 3 ) 3

.10.

59

.11. M2 (LED 2 ) 2

.12. Foot SW

.13.

60

.14. Foot SW

.15. M1 Foot SW

.16. Foot SW

61

.17. Foot SW

.18. Power

.19. Reset

62

Data Sheets

63

64

65

66

67

68

69

70

71

72

73

74

75

76

77

78

79

80

81

82

83

84

85

01-Title.pdf02-Abstract.pdf03-Acknowledgements.pdf04-Table-of-Content.pdf05-Chapter-1.pdf06-Chapter- 2.pdf07-Chapter-3.pdf08-Chapter-4.pdf09-Chapter-5.pdf10-References.pdf11-Appendices.pdf11. 12.