Dummy Arm Team 4

Presented by Jun YaoDummy ArmTeam 4Chuan HeYuntian LuWudi ZhouJun Yao

Project OverviewAn remote controlled robot arm with 6 degree of freedom. It is controlled by a control sleeve. Control sleeve is responsible for measuring the motion of the human arm. Robot arm will mimic the same motion.The additional degree of freedom is from the rotation of wrist. 2Critical ComponentsLinear Regulator LP38690, 6V to 3.3VHeat dissipationMicrocontroller Atmel ATU64D3ComplexityTilt Compensated Compass- LSM303DLMTRWearable, potential broken connection due to motions

Definition of Criticality LevelsHigh CriticalityA failure that has the potential to injure the users or others around the deviceMedium CriticalityA failure that can permanently damage components on the deviceLow Criticality A failure that would change the functionality or affect the performanceFailure No.Failure ModePossible CausesFailure EffectsMethod of DetectionCriticalityA13.3 V supply = 0VShort circuit of any component in power supplyDisable the microcontroller and sensorsProbe output voltage measures at 0, Observation LowA23.3V supply >3.3 VFailure of buck converter outputs higher voltage than 6VMicrocontroller over voltage shutdownSmell of IC frying, observe device not workingMediumA3Overheating>125 degree CShort circuit of deviceuC peripherals functions out of expectation or not workingObservation, Smell of IC fryingHighA4Supply voltage out of tolerance of 3.3VReal values of capacitors and resistors for linear regulator not accurate enoughuC peripherals functions out of expectation or not working

ObservationLowLinear Regulator LP38690Failure No.Failure ModePossible CausesFailure EffectsMethod of DetectionCriticalityB1No sensor data received I2C, ADC peripherals error,broken connectionUnable to control robot armObservationLowB2Lost wireless communication through XBeeUART error, Baud rate not matchingUnable to control robot armObservation, Logic Analyzer LowB3Power supply