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Team Mechons

Sunfish Project: The Robotic Arm CECS 490 Professor: Bob Ward Data: 12/17/13

Table of Contents
Introduction...pg. 3

Existing Products...pg. 45 Technological Overview....pg. 67 Specification..pg. 7 Consumer Specifications.....pg. 7 8 Engineering Specifications....pg. 8 11 User Interface.pg. 12 Hardware....pg. 1316 Software......pg. 1722 Schedule...pg. 23 Parts/Cost.......pg. 2426 Conclusion...pg. 27 Appendix.....pg. 27

Introduction:

Our team, The Mechons, were assigned the task to help the EAT society design something to incorporate into the project Sunfish to compete in next years AUV/MATE competitions. The AUV competition is a worldwide competition held in San Diego that pins Autonomous Underwater Vehicles together in a race against the clock to accomplish various tasks in a course. While MATE is a Remotely Operated Vehicle (ROV) based competition that is somewhat similar in function of the AUV competition, but the Submarine has to be manually controlled somehow by a crew of people. This involves various people designing and building the submarines to accomplish all these tasks as efficiently and as quick as possible. Knowing what we are getting ourselves into; we all decided to take on the task of building the mechanical manipulator that will play a key part in a lot of the tasks for the competition. So the first and foremost thought in the design stage was that the manipulator has to be entirely waterproof and can withstand the pressure of being submerged with at most an olympic sized pool. The rest of our vision is to have the user be able to control the arm via various control systems, such as motion control, a game controller, or a computer keyboard. The motion of the arm is all accomplished by both hydraulics and servo actuators, giving us precision and force to handle weight compared to other types of actuator. The arm will be easily configurable into the sunfish to allow the user to modify the program to specify tasks easily for automation in the AUV Competition. Though for testing purposes the arm will be attached to a base so it can handle tests/presentations of its certain tasks, for example moving a bottle, open and close a door, and turning a handle. The Mechons goal is to make a product that EAT society can use in more years to come and adapt it to whatever they need without the need of heavy modifications.

Existing Products:
Product Description Advantages Disadvantages

Two finger clamp arm that has two degrees of motion, made of aluminum alloy Voltage rating: 4.8V6V Size: 9.06 in x 2.52 in x 2.48 in Price: $52.10 Robot arm that has 4 degrees of motion and a controller built in. Voltage rating: 4 D batteries Size: 9" (L) x 6.3" (W) x 15" (H) OWI-535 Robotic Arm Edge Price: $50.00 Has 4 degrees of freedom and a rotating gripper. For smaller mobile robots Voltage rating: 5V - 6V Price: $89.90 Robotic arm that has 5 degrees of motion that is programmed and connected via Serial Communication. Voltage Rating: Unknown Lynxmotion AL5D Size: Varies Price: $133.90

Servo motors for precise movements Arduino compatible

Not Pressure sensitive only 2 degrees of freedom limit motion

DAGU VA2

4 degrees of freedom for more motion Servo motors

Controller and arm attached to base and cant modify. Plastic casing

4 Axis Robotic Arm

Gripper can rotate More finer twist motions due to 4 degrees of freedom

Gripper is only two claws limiting its grasp. No pressure sensing

Serial Connection Software program included Optional Wrist rotate Can be controlled by a micro controller

Gripper is only a clamp and is not pressure sensitive Not much casing for servos Needs power supply

Serially interfaceable robotic arm that has 6 degrees of freedom Voltage Rating: 4.5V 6V Size: Length: 390 MM Price: $275.26 Robotic arm that is held on a base with base rotation. Voltage Rating: 4.8V - 7.2V Size: Varies 6 DOF Robotic Arm DFRobot Price: $225

Wifi compatible 6 degrees of freedom Serial Interface Aluminum chassis

Requires Power supply Software limitations due to incorporated software package

Dagu 6 DOF RObotic Arm

6 degrees of freedom Optional sized wrist rotate

Would need extra parts for mounting on other things besides base Clamp gripper

A customizable robotic arm

Entirely Customizable Easy to build and modify.

Price: varies based on parts acquired. (roughly ~$11,483)

Price could jump drastically depending on requirements and specifications of the project.

CrustCrawler ProSeries

Technological Overview:
For our design, we wanted to keep it as water resistant as we can, while experimenting with different technologies. The arm would also need to handle at least 5 pounds of carrying weight under water without the stress of the motors or frame being in danger of breaking. The technology we use to accomplish this and more is outlined below:

Microprocessor: Arduino will be used to control the actuators and manipulate them.The servos will be directly controlled by this, while the hydraulic cylinder will be controlled by its own system and the Arduino will control the solenoid on the control value to operate the hydraulic system. Sensors: There will be several types of sensors used on the robotic arm One of the types of sensors that we are planning to implement in our design is analog pressure sensors. Pressure sensors act as a transducer. It generates an electrical signal as a function of the pressure imposed. They will be used on the hand/claw portion of the arm to measure when to stop applying force/pressure when an object is being grasped. The challenge that we will face with this type of sensor is its performance outside of the water vs performance underwater. We will have to do live tests and see how the water and change of temperature affect the results we expect. We will work on registering the values it records when the hand/claw is open with no object, when it grasps a light object such as a hoola hoop, readings when it grasps a heavier object such as 5lb object simulating a small anchor as required for one of the competitions. The second type of sensors that we will be implementing will be optical sensors. Optical sensor is a distance measuring sensor unit, composed of an integrated combination of positive sensitive detector (PSD), infrared-emitting diodes(IRED), and signal processing circuit without physical contact. The challenge that we will face with this type of sensor is its performance outside of the water vs performance underwater. There is no way of really knowing what the performance will be until we test the sensors. We are coming into this project assuming that the distance measured when outside of the water will be exactly the same as the distance measured underwater. Servos: The servo motors will be used exclusively to control the claw. Whereas Hydraulics give more strength in movement, servos allow for more precise control when moving our claw. The servos allow for adjustable speed and torque up to 1024 different increments, and the claw we are using is designed for the servo motors we will use, so the servo motors will open and close the claw, as well as rotate the wrist joint for more precise moving of the claw. Note: Due to possible complications with being able to waterproof the servos we may switch to a linear actuator for the claw, but we can still use the same claw design. Hydraulic System: This is one is comprised of a whole hydraulic system, which includes a hydraulic cylinder, pump, motor, control valve, and reservoir. The hydraulic system is used to move full arm and can withstand a holding force, when a weight is added to the arm in an extend fashion. The way a hydraulic system works is that a force is applied at one point and transmitted to another point by a compressible fluid/oil. The pressure of the compressed fluid/oil is what moves the cylinder. The way the hydraulic system is used in our project is in conjunction with the microprocessor; which will send a signal to a solenoid to open and close the control value that

will dictate how the pump will react. Letting the cylinder extend or retract based on the fluid pressure in the cylinder.

Specifications:
The Robotic Arm is a piece of an overall bigger project that EAT Society is working on this year. We were contracted to design and implement the manipulator/Robotic Arm. The design is solely up to us and can be anything. Our only limitations is price and handling various tasks with ease and accuracy. Below is a list of things that make up the arm and what they entail in the design of it all.

Consumer Specifications:
Operating Voltage Testing purposes we are using 120V AC with an external power supply. Operating power is 25V distributing the voltage among the various components. Power Maximum Power: 71.34 Watts Maximum Voltage: 24.6V * Maximum Current 2.9A = 69.6 W This is the maximum the product can handle. For calculations go to appendix. Degrees of Freedom This is the number of single-axis rotational joints offered 5 degrees of freedom Grasping mechanism Claw Three Claw hand Offers added grasp compared to having two claws. Sensors for grasping control and feedback Control Controllers Game style controllers These can be joysticks or game system controllers. USB interfaced More than likely will involve 2 Joystick shield for Arduino modified for our use Computer Running a program that can upload to the arm Predefined movements at the touch of a key Can make modified movements for autonomy. Emergency hot keys for fail safe incase of controller malfunction. Size Retracted length: ~ 1.3 ft Fully extended (2 hydraulics and gripper): ~ 3ft Fully extended completely horizontal Gripper span: Maximum 9 inches

Engineering Specifications: Motor control Servo Speed controlled with a resolution of up to 1024 steps at 7v it takes approx 0.27s to rotate 60 degrees at 10v it takes approx 0.196s to rotate 60 degrees Used for rapid accurate responses Can be asynchronous or synchronous Can interact with other motors as long as the feedback system is present for positioning. Torque adjustable with resolution of 1024 steps: at 7V, max holding torque at 12 kgf.cm (1.177 N.m) at 12V, max holding torque at 16.5kgf.cm (1.618 N.m) Input voltage of 7V to 10V, with a recommended voltage of 9.6V. Max current is 900mA Operating angle of 300 degrees 0.35 degree resolution Weight: 0.55kg Hydraulics Speed: 79 Push/75 Pull force Used to handle a max of 507 PSI. Control system will be housed on the outside of product for ease of access and minimize weight of arm. Power Source Arduino Microcontroller will be delivering 5V to the require products that need up to 5Vs to operate. Other products such as the hydraulic system and the gripper will be run off of a power supply that takes AC power. Interfacing with the Submarine The arm will use the power supplied from the submarine once placed with it and use a converter if needed to step down or up to its required voltage. Communication Serial I2C (Inter-Integrated Circuit) Only 3 pins required to communicate between devices Regardless of how many devices are being communicated with, only 3 pins on the Arduino are required, and the different devices are selected through the specific slave address Microcontroller

9 Arduino Mega Microcontroller: ATMEGA2560 Operating Voltage: 5V Input Voltage: 7-12V Digital I/O: 54 (14 Providing PWM (Pulse Width Modulation) Outputs) DC current per I/O pin: 40 mA DC current for 3.3V pin: 50 mA Analog Inputs: 16 Memory: Flash 256 KB, SRAM 8 KB, EEPROM 4KB Clock Speed: 16 MHz

Sensors Sharp GP2Y0A-2YK0F Analog Distance Sensor

Operating Voltage: 4.5 V to 5.5 V Average Current Consumption: 33 mA (typical) Distance Measuring Range: 20 cm to 150 cm (8" to 60") Output Type: analog voltage Output voltage differential over distance range: 2.0 V (typical) Response Time: 38 10 ms Package Size: 29.513.021.5 mm (1.160.50.85") Weight: 4.8 g (0.17 oz) Maximum Range: 150 cm Minimum Range: 20 cm USB interface Resolution of 1 mm Multi-sensor operation ~250mS between range readings Maximum Range of 5000 mm (196 inches) 42kHz Ultrasonic sensor measures distance to objects RoHS compliant Virtually no sensor dead zone, objects closer than 30 cm range as 30 cm Small, light weight module Designed for easy integration into your project or product Widest beam of the HRUSB-MaxSonar-EZ sensors Great for people detection applications

HRUSB-Max Sonar-EZ0 Sensor

Miniature Voltage Output Pressure Sensors Fully Temperature Compensated

Typical Applications

Laboratory Equipment Electronic Brake Systems Engine Oil Level Transmission Fluid Level

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Air Conditioning Systems Industrial Fluid Level

SPECIFICATIONS Excitation: 5 Vdc @10 mA Output Source Current: 0.5 mA max Output Sink Current: 1.0 mA max Hysteresis and Repeatability: 0.15% FS Span: 50 mmHg 0 to 15 Output: 4.00 Vdc Linearity: typical 0.80% 0.20% 0.10%

4.00 0.11 Vdc

0 to 100 4.00 0.09 Vdc Null: 50 mmHg 0 to 15

2.50 0.05 Vdc

0.50 0.11 Vdc

0 to 100 0.50 0.04 Vdc Operating Temp: -45 to 125C (-49 to 257F) Compensated Temp: -45 to 125C (-49 to 257F) Overpressure: 50 mmHg 0 to 15 45 psi 170 mmHg

0 to 100 200 psi Response Time: 1 ms Gage Type: Silicon Media Compatibility: Limited to media that will not attack invar, copper, silicon, stainless steel, glass and solder (i.e., air, water, refrigerants, engine fuel) Vent: Dry gases only Weight: 5 g (0.18 oz)

11 Programming Language Mainly programmed in C for every task. Certain functions are coded in Assembly if applicable to the task at hand and will help with efficiency.

User Interface:
The primary way that the user will interact with the arm is through the computer via hot keys to initialize everything to its starting position, and then either using the keyboard or a controller to control the arm and gripper. The hotkeys for the keyboard will perform basic tasks such as moving the shoulder joint, elbow joint, and the gripper, though the degree of precision from a joystick wont be as apparent when using just the keyboard. The keyboard may be used to allow X and Y coordinates to be entered where the arm will move to that location, but that is optional at this point. Through the user interface the user will also be able to configure several buttons or the hotkeys on the keyboard.The way the user will use the controller is as follows: Left Joystick Forward the shoulder joint of the arm will move up vertically until reaching the max degree of rotation Backward the shoulder joint of the arm will move down vertically until reaching the max degree of rotation Left the elbow joint will move to the left horizontally until reaching the max degree of rotation Right the elbow joint will move to the right horizontally until reaching the max degree of rotation Right Joystick Forward

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The gripper will close until the pressure sensor sends data that implies the necessary force to hold an object has been reached, or until the gripper is closed Backward The gripper will open until max degree of rotation for opening is reached Left The gripper will rotate to the left until the maximum degree of rotation is reached Right The gripper will rotate to the right until the maximum degree of rotation is reached Push Buttons Non specific buttons to perform several tasks, such as locking the gripper, shoulder joint, or elbow joint in the current position. Will be programmed to be able to change the function of the buttons

Hardware:

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Power Supply The Power Supply that is needed for the arm has to incorporate the ability to take for the sake of testing first a 120 volt signal and step it down to low voltage for the microcontroller/processor and the other components like the camera who dont require much voltage to power. The mechanical arm also needs higher voltage in order to send to the servo/hydraulic controller, this allows the controllers to thus use the voltage based on its task. After we have tested the product intensively and can be ready to be integrated into Sunfish, this is when the power supply is incorporated into the submarine. Thus this power supply will take from the power supply on Sunfish and convert it to the needed voltage required to power its various components. Processor
We choose the Arduino Mega 2560 microcontroller for programming our robotic arm because the board has 54 I/O pins while the ARM 7 lpc2148 has 32 I/O pins. Having extra I/O pins would give the Arduino the advantage to add more control interface with the robotic arm if more servo motors are needed. The Arduino Mega has 4 UART ports while the lpc2148 has 2. For the processor, a pulse width modulation could be used to regulate how many voltage would the robotic arm run on the servo motors. Pulse width modulation would also help determine how many degrees would the servo motor rotate. This would be a starting point for testing and compiling our own libraries for the arm to then allow future developers to add to the code for ease of portability. Servo System This block includes the control and servos , which are used to control the rotation of the claw and gripping objects. The servo controller is what sends the amount of voltage needed to turn the servos to

14 the correct position given by the User. We have three servos that will interact with the motions of the hand to give use a more accurate motion. For waterproofing we will use various methods, but the most likely is that we will use a 3 step process: 1. Wrap servo case with waterproof vinyl tape 2. use waterproof silicone glue to seal the screws holding the case together 3. waterproof grease to prevent any leaks from entering the output gear at the top of the case Hydraulic System The hydraulic system consists of 4 main blocks and takes up the most amount of space on the arm. The 4 blocks consist of the electrical pump which will provide a way for the fluid the pump needs in order to maneuver the cylinder. The pump will trigger the control valve, which will give the cylinder direction to either go back or forward by a certain amount. The way the pressure works is that any excess or lack of liquid will be compensated by the reservoir that holds extra fluid.

Interface In order to control the arm and its functions, there will need to be interfacing to several hardware inputs. The first (and most important) is the computer or a keyboard, which will be used to initialize the arm and also be used as a failsafe control system and also a basic control system. Initially this may be wireless or through serial port connection. Another interface we will need is between the processor and the external controller, specifically a joystick/game controller. This can be done via either a direct connection from the joystick/game controller either wirelessly or through a wired connection, or via the computer initializing the processor which will then send the necessary input data to the processor of the arm. Pressure Sensors/Other Sensors (Optional) Pressure Sensors used to detect how much force and the gripper will exert on the object it is about to gather.This will let us know if the gripper is indeed holding the object tight enough to pick up. External Controller One of the ways we plan on controlling the arm is to add an option to control the arm via a video game controller (such as a USB controller or XBOX controller), a joystick, or perhaps even a wiimote (since that is already motion operated). The way that it would work is that we would map each of the buttons and analog sticks to a particular function or part of the arm, such as mapping the left analog stick to adjust the Y-axis of the arm (moving the arm up and down), and the right analog stick for the X-axis (moving the arm left and right). This way a combination of the two could give you simple control of where to move the arm. A joystick could be used in a way where the arm will mimic any movement of the joystick as far as controlling it on an X and Y axis. We could also possibly include wiimote functionality to move the arm when you tilt the wiimote, as the wiimote already includes a tilt sensor and is a motion operated device. Out of these 3 a joystick seems the best way to go, but we may be able to include multiple or all of these controllers. The most likely way this will happen is through Arduino joystick shields, which we

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will put together in our own way that allows for the best ease of control, and it will already be compatible since it is designed for use with Arduino. The rest of the ways described for external control below are all optional at the point, but are ways that we would like to be able to control the arm if time and the budget permits. Another way we plan on controlling the arm is through hand motions, which will be two different parts. The first way is by way of a camera and sensors on a hand and parts of the arm. The idea is that the camera would track each sensor (each with a different signal or value), and any change in position of any of the sensors will tell the arm to move to those new coordinates. For example, if the hand with the sensors moves up on the Y-plane, the camera will track this and tell the arm to move and adjust for the new displacement. The sensors can maybe be designed to be in or on a glove, making the wearing and use of it by a person easy and safe. Another way we are thinking is using hand motions to control the arm is by sensors on the arm and hands. To be more specific, a combination of accelerometers and flex sensors. A flex sensor measures the amount of deflection (or resistance) caused from bending the sensor. These would be placed on the fingers of the user, and there will be as many sensors as there are fingers on the arm. As the use bends their finger, whatever deflection is placed on each sensor will let the arm know which fingers to close and by how much, and the same goes for putting less deflection on a sensor, and opening the hand up. The flex sensors will be used for the hand portion of the arm, as it is a good way of opening and closing the hand while at the same time mimicking human motion. As for accelerometers, they are sensors that measure change in acceleration and direction. These can be used for controlling the axis of the hand and the axis control of the arm. By placing an accelerometer on the hand of the user, if the user were to twist their hand to the left or right, the hand of the arm will mimic that and twist in that direction by the amount that the user twisted. As for the arm, placing an accelerometer on the arm of the user will account for that. Any movement of the users arm, whether twisting or in the X and Y axis, will be mimicked by the arm in the amount that the user moved. A glove or sleeve incorporating flex sensors on the fingers and accelerometers on the hands and arm could be designed to ease the use of the arm for the user. The last way we are thinking of controlling the arm is by keyboard input. These would not be as precise movements as you would get with a controller or hand motions, but the arm could still do most of the basic tasks, such as moving in the X and Y axis, and opening and closing its hand.

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Software:

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Software Flowcharts:

Global Initialization and Reset: Initializes everything to their reset value or to a set position/function chosen by the user for finer details.

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Hydraulic Control: This will include moving the sending data to the control valve and pump to send fluid to the actuator to maneuver it as certain direction.

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Servo Control: This part of the software is what will control the various servo motors and will choose what servo motor will be controlled by particular parts of the code and will control the degree to which the servo motors will move for a particular action or input

External Controller: This part of the software will handle the inputs received by the external controllers, and can include video game controllers and/or joysticks. The software will receive the inputs and will signal the appropriate part of the processor based on what is specified in the code. So a particular button will do the same action each time pressed, or if the joystick is moved forward, then so will the arm. This will be defined in the code, and we can refer to existing interfaces and code for external controllers as well, and modify to meet our needs. Communication with External Device: Portion that communicates with external devices allowing for additions to the control.

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User Interface: This allows the user to interact with the processor (connected to several tasks/parts of the flowchart): 1. The user will be able to initialize the arm to its reset position. 2. basic GUI we can program to include a menu of the functions of the arm and various ways to control it a. would include an option to customize the control and configure the controls b. run basic built in functions of the arm as a default and to test 3. We can use existing interfaces for several functions if they meet our needs/requirements a. there are many existing interfaces online we can use for various actions of the arm and for controlling the arm

Sensor Feedback

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**** Error Checking(Built into each task): This is used to check if the position required/wanted is out of bounds for the arm or motor to guarantee accurate response. Another check would be for proper user input that can be used (i.e. correct input by the user that can be used by the interface). Besides user error checks, we need system error checking just in case of a major error in computation or a certain task gets hung up.

Schedule:

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Tasks List 1. Servo Control - The task will be to handle the hardware and software side of controlling a servo motor 2. External Controller - The task will be handling the hardware and software side of external controllers that will be used to control the actuators, such as joysticks and game controllers 3. Hydraulics Control - This task involves the X and Y-axis control for the arm and needs to be custom for the specifications of the arm. Interaction of the hydraulics will be from the processor and the hydraulic controller. 4. Microcontroller/Processor - This task is to basically connect the processor to the pins of our own microcontroller and make sure that the ports (such as UART, Timers, and PWM (Pulse Width Modulation) are connected to the processor. 5. Sensor- This task will add the robotic arm to sense pressure while grabbing an object underwater and determine how much pressure is being added on the object. 6. Power Supply - This task is to make/find a power supply that can give correct voltages to the different sections of the device and be integrated into Sunfish. 7. Arm Frame Build- This task is building the physical frame and then placing the components to it. 8. Interface - This task will basically program the processor on how to interact with the user and add features that the user would see while interacting with the robotic arm. 9. Testing and Delivery - This task is to continuously test components and check on status of each task before delivering it to our customer.

Cost (Part List):

1. Frame a. 80/20 material

23 1. Quantity 1 Four-Slot Single Solid T-Slotted Framing Extrusion 10S Price: $36.70/each

2. Quantity 1 Four-Slot Single Solid T-Slotted Framing Extrusion 10S Price: $31.15/each

3. Pk of 15 BHSCS & T-Nut, For 10S Price: $10.45/pkg 4. Quantity 1 Inside Corner Bracket, 2 Hole, For 10S Price: $5.05/each 1. Quantity 1 - Four-Slot Single Solid T-Slotted Framing Extrusion - 2ft: $8.35/each - 4ft: $14.20/each - 6ft: $19.79/each - 8ft: $26.38/each - 10ft: $31.59/each 2. Pkg 4 - End-Feed Fastners for Aluminum T-Slotted Framing Price: $2.30/pkg 3. Quantity 1 - Corner Connectors for Aluminum T-Slotted Framing Price: $6.83/each 3-way Corner connector Price: $9.86/each 2. hydraulic system _ this seems it will be the most expensive with over $1000 for all a. Cylinder 1. Quantity 2 - Low Pressure Hydraulic cylinder a. Price: $139.58 each 2. b. Pump 1. Quantity 1 - Haldex Barnes Pump -$168.25 2. Quantity 1- SAE-A Hydraulic Pump - $194.58 c. Hoses 1. Bulk hose -$ 86.30

24 2. Bulk Hose -$Varies d. Resevoir 1. Quantity 1: Oil Reservoir: $23.95 Solenoids 1. Quantity 3 -Solenoid 5V: $4.95 each Control value 1. Quantity 1- Sight Flow Needle Value: $29.97 h. Filter 1. Quantity 1 - Standard One-Cartridge Filter: $35.11 2. Quantity 1 - Hydraulic Fillter, Spin on, 10: $38.60 3. Servo system Dynamixel Ax-12A Actuator: Price: $135 for 3 servos needed for the claw 4. Claw Dual Gripper $69 for the claw without the servos

e.

g.

5. Microcontroller 1. Arduino Mega Price: $51.99

7. External Controller This is a joystick shield for Arduino Price: $26 total

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other parts: soldering wire reel 3 Colored Wires (White, Red, and Blue) Price: $19.35 each Specs: 50 wire, Wire gauge of 30 AWG soldering bread boards PC BOARD FR4 1-SIDE PPH 4.0X4.0 price: $7.33 each male/female connectors pin connectors

Break Away Headers - Machine Pin Price: $2.95 each

Break Away Headers - Straight (Male) Price: $1.50 each sensors: Optical Sensor Sharp GP2Y0A-2YK0F Analog Distance Sensor - $14.95 Sonar Range Finder Proximity Sensor HRUSB-Max Sonar-EZ0 Sensor Line - $49.95 Miniature Voltage Output Pressure Sensors Fully Temperature Compensated - $59.00

COST:
Total Cost: Approximately $1,067 Consumer Cost: Approximately $4200 Conclusion:
When we started planning this project, we came up with good amounts of ideas for our robotic arm. Each idea incorporated a new concept that we have never delved before and required some research to pick if it was reasonable to do. We finalized our decisions over the course of the semester with our teammates and EAT Society members, about combining hydraulics with servo motors, while making the robotic arm submersible underwater. Combining hydraulics automatically adapts to underwater whereas we have to provide the servo motors with underwater protection. Various protocols will be used like, I2C to

26 communicate with the hydraulics and servo motors, and the parts that have been listed are reasonable. As we have planned the project carefully, we will successfully build the robotic arm and provide underwater protection for our senior project. Appendix: Total Voltage: Total Current: Power: P = Current * Voltage Power = 2.9A * 24.6V = 71.34 Watts

2 servos in parallel: 10V 1 solenoid: 5V Arduino: 9.6 V 10 + 5 + 9.6 = 24.6V

2 servos in parallel: 900mA each 1 solenoid @ 100% duty cycle: 240mA Arduino connected from an external power supply: 900mA 900mA * 3 + 240mA = 2.9A

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