You are designing a robotic arm. There are two pivots (shoulder and elbow). Each

ID: 1811043 • Letter: Y

Question

You are designing a robotic arm. There are two pivots (shoulder and elbow). Each is controlled by a

screw drive actuator. Each actuator has a potentiometer(variable resistor) connected to it. The two

potentiometers place the wiper at 0% to 100% for 0 degrees to 180 degrees for the shoulder and 0% to

100% for 0 degrees to 359 degrees on the elbow linearly. The two pieces of the arm are each 30cm,

meaning that the full length of the arm is 60cm. A diagram of the arm is shown below. Your goal is to

design the feedback portion of the system to drive the actuators. The feedback is what tells the

actuators where they should stop. The two potentiometers are a maximum of 10k? and can have a

maximum of 10mA drawn through them before they will start to burn. The potentiometers have three

pins. There is a constant 10k? between the two outside pins and the wiper which sweeps between one

end of the resistor and the other.

A) You need to design a circuit that will output two different voltages. The Shoulder should output 5V

at 0 degrees and 15 V at 180 degrees. The elbow is to output -5V at 0 degrees, 0V at 180 degrees and

4.99 V at 359 degrees.

B) Your boss wants a table that shows the angles, and voltages for each pivot for the end of the arm

being on the x-axis from -60 to 60 cm in 5 cm increments.

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