Mecharithm Lessons

Design and Implementation of Driver for 8 DC Motors

Design and Implementation of Driver for 8 DC Motors

Note: The driver for the DC motor project was done during the years 2011 - 2013 when Madi was a Master's student. Problem Definition The aim of this project is to design and implement a driver for 8 DC motors to be used in a surgical robot. L298 Driver This IC is the most common and powerful IC to drive DC motors, Relays, and Solenoids. Each IC can drive up to 2 motors. Therefore, in order to drive 8 motors, 4 of these ICs are needed. The pins of the IC are as follows: As can be seen above, the…
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6-Legged Robot to Mimic Ant Locomotion

6-Legged Robot to Mimic Ant Locomotion

Note: The Ant Robot project was done during 2011 - 2013 when Madi was a master's student. The robot built in this LINK is inspired by our Ant Robot. Abstract Ants are six-legged insects that can carry loads ten times heavier than their body weight. Since having six-legs, they are intrinsically stable. They are powerful and can carry heavy loads. For these reasons, a new parallel kinematic structure is proposed for a six-legged ant robot. The mechanical structure is designed and optimized in Solidworks. The mechanism has six legs and only two DC motors actuate the six legs so from…
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Sliding Mode Control of an Exoskeleton Robot for Use in Upper-Limb Rehabilitation

Sliding Mode Control of an Exoskeleton Robot for Use in Upper-Limb Rehabilitation

Note: The Sliding Mode Control of The Shoulder Rehabilitation Robot project was done during 2011 - 2013 when Madi was a master's student. Sliding-Mode Control of 3-DOF Rehabilitation Robot Abstract In this paper, mechanical design and control of an exoskeleton robot for shoulder rehabilitation after stroke are presented. Initially, mechanical design of a new 3 degrees of freedom (DOF) exoskeleton robot for shoulder joint rehabilitation is presented. All robot measurements are based on the properties of upper limb of an adult person. A new open circular mechanism is proposed for the third joint. Afterwards, direct and inverse kinematics, Jacobian matrix,…
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Mechanical Design, Simulation and Nonlinear Control of a New Exoskeleton Robot for Use in Upper-Limb Rehabilitation after Stroke

Mechanical Design, Simulation and Nonlinear Control of a New Exoskeleton Robot for Use in Upper-Limb Rehabilitation after Stroke

Note: The Exoskeleton Robot project was done during 2011 - 2013 when Madi was a master's student. Inverse Dynamics Controller Abstract Cerebrovascular accident (CVA) or stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged in recent years. Robot-aided arm therapy is more intensive, of longer duration and more repetitive. By using robots repetitive dull exercises can turn into a more challenging and motivating tasks…
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Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system

Anthropomorphic mechanical design and Lyapunov-based control of a new shoulder rehabilitation system

Note: The Lyapunov-based control of the Rehabilitation Robot project was done during 2011 - 2013 when Madi was a Master's student. 3-DOF Shoulder Rehabilitation Robot Stroke is one of the main causes of disability. It affects millions of people worldwide. One symptom of stroke is disabled arm function. Restoration of arm function is necessary to resuming activities of daily living (ADL). Along with traditional rehabilitation techniques, robot-aided therapy has emerged recently. The control schemes of rehabilitation robots are designed for two reasons. First they are designed for passive rehabilitation in which the robot guides the patient's limb through a predefined…
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A review of technological and clinical aspects of robot- aided rehabilitation of upper-extremity after stroke

A review of technological and clinical aspects of robot- aided rehabilitation of upper-extremity after stroke

Note: A review on Robot-aided Rehabilitation was done during 2011 - 2013 when Madi was a master's student. Abstract Cerebrovascular accident (CVA) or stroke is one of the leading causes of disability and loss of motor function. Millions of people around the world are affected by it each year. Stroke results in disabled arm function. Restoration of arm function is essential to regaining activities of daily living (ADL). Along with traditional rehabilitation methods, robot-aided therapy has emerged in recent years. Robot-aided rehabilitation is more intensive, of longer duration and more repetitive. Using robots, repetitive dull exercises can turn into a…
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Mahdieh Babaiasl’s Obligation of an Engineer and Engineer’s ring

Mahdieh Babaiasl’s Obligation of an Engineer and Engineer’s ring

Mahdieh Babaiasl's Obligation of an Engineer and Engineer's ring is received in the mail. She is so proud to take the oath: "I am an Engineer. In my profession I take deep pride. To it I owe solemn obligations!". "As an engineer, I pledge to practice Integrity and Fair Dealing, Tolerance, and Respect, and to uphold devotion to the standards and dignity of my profession, conscious always that my skill carries with it the obligation to serve humanity by making best use of the Earth's precious wealth. As an engineer, I shall participate in none but honest enterprises. When needed,…
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