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/R2400K12J2flex sensorR1400K12J1flex sensor12J3flex sensor12J5flex sensor12J4flex sensor5v1GPIO112GPIO103GPIO94GPIO135GND6GPIO127GPIO148GPIO279GPIO2610GPIO2511GPIO3312GPIO3213GPIO3514GPIO3415GPIO3916GPIO3617EN183.3v19GPIO620GPIO721GPIO822GPIO1523GPIO224GPIO025GPIO426GPIO1627GPIO1728GPIO529GPIO1830GPIO1931GND32GPIO2133GPIO334GPIO135GPIO2236GPIO2337GND38U1R4400KR3400KR5400KR2400KR1400KJ1flex sensor12J2flex sensor12J3flex sensor12J4flex sensor12U15v1GPIO112GPIO103GPIO94GPIO135GND6GPIO127GPIO148GPIO279GPIO2610GPIO2511GPIO3312GPIO3213GPIO3514GPIO3415GPIO3916GPIO3617EN183.3v19GPIO620GPIO721GPIO822GPIO1523GPIO224GPIO025GPIO426GPIO1627GPIO1728GPIO529GPIO1830GPIO1931GND32GPIO2133GPIO334GPIO135GPIO2236GPIO2337GND38R4400KR3400KR5400KJ5flex sensor12 \ No newline at end of file diff --git a/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md new file mode 100644 index 00000000000..0a66823d230 --- /dev/null +++ b/website/versioned_docs/version-fils_en/project/2026/abdulrahman_hayder_m_jawad_al-waely/index.md @@ -0,0 +1,100 @@ +# Hydraulic Arm + +*A robotic arm that can move using hydraulics, and a glove that will send the movement to the arm to mimic or control it.* + +:::info + +**Author**: Al Waely Abdulrahman \ +**GitHub Project Link**: https://github.com/UPB-PMRust-Students/fils-project-2026-CRISISXx/tree/main + +::: + +## Description + +*Basically my project is a robotic arm that can move using hydraulics. Most of the pieces will be 3D printed, using syringes filled with water and small flexible tubes. We can increase the pressure in the tubes making them stiffen, and using silicone bands we can simulate a reverse motion. The syringes will be pressed using stepper motors.* + +## Motivation + +*My motivation for this project is to help those who have physical limitations and have lost the ability to perform simple day-to-day tasks. I don't plan on making a super precise and expensive factory production robotic arm rather I am focusing on making a cheaper desk arm that can do simple tasks such as helping an amputee put on a watch, put on a jacket, or hold down the paper as they write. Furthermore I believe that in most task that requires automation it isn't needed a full robot that can walk and that looks like a human with an expensive parts, what is actually needed or the part that is most used or the majority of those tasks is just the hand any other part could be basically any shape as long as it can perform a simple motion for some tasks.* + +## Architecture +![Diagram](Architecture.svg) + + + +## Log + +### Week 3 - March 11 + +*At this stage, I started to think of my project idea and how it would work and the parts I needed for it to work. Basically at this period was the planning phase.* + +### Week 6 - April 1 + +*During this period, I decided on most of the parts that I needed were searching for the best place to get all of them from. And waiting for the project idea feedback* + +### Week 7 - April 8 + +*I ordered most of the parts that I need such as the cables, stepper motors, MPU6050, and more.* + +### Week 7 - April 10 + +*I decided on the 3D modeling software that I will use and started to watch tutorials and get used to the layout and for the following days I started to make the first set of designs.* + +### Week 9 April 23 + +*At this time I had received the ordered parts and I started testing and using them so far I could not go far in the 3D model as I needed to take measurements for the parts that I had to use and I still needed more of the orders to arrive.* + +### Week 10 May 1 + +*By this time I had received most of my orders but I had one big problem was the flex sensors that I had ordered were pressure sensors. I made a mistake by ordering the wrong sensors thus I decided to make my own flex sensors. Flex sensors are basically a simi-conductive material. When it is straight, it conducts electricity with a small amount of resistance. But when it bends the conductive molecules move further apart and thus cause an increase in resistance.* + +### On the week of submission + +*On the last week of submission I couldn't get the parts printed from the university thus, I decided to buy my own 3D printer and attemted to print the 3D model myself. Unfortunatly I didn't have the time nor the experience needed to perform the 3D print. Partes didn't fit together, others broke very easily. For that reason I decided to print only the necessary parts and the other large parts I would make them using wood. Unfortunately even with all my attempts and efforts I couldn't get it done on time, and the parts that I did make broke when I was transporting them to the university.* + +### The summer vacation + +*On the summer vacation, I spent mostly 3D printing parts and making sure that the printer is optimized I broke parts from it and had to fix or order replacement parts. I changed from using an STM32 to a pico 2W and two ESP32s. I still couldn't 3D print all the parts, but I was able to print the actual hand. I programmed it and used ESP-NOW to send data from the glove to the actual hand and move it. I also had to change my original idea of using tubes to flex the hand as the force was too weak for preforming action. At the end I managed to make a working three part of the hydraulic hand, the gloves, the control box and the hydraulic hand. It is not perfect, but it is the first minimum viable product* + + + +## Hardware +The project used two ESP32 38 pins to send data wirelessly via ESP-NOW, pico 2W for more GPIO pins to control the motors, five stepper motors to control each finger movement, and a DIY flex sensor to detect each finger's movement. + + +## Schematics +![Diagram](RoboticHand.svg) + + +## Bill of Materials + +| Device | Usage | Price | +|--------|--------|-------| +| [Raspberry Pi Pico 2W](https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html#pico2) | The microcontroller | [39.66 RON](https://www.optimusdigital.ro/en/raspberry-pi-boards/13327-raspberry-pi-pico-2-w.html) | +| [Plusivo ESP32 and BLE Compatible Wireless Development Board x2](https://www.raspberrypi.com/documentation/microcontrollers/pico-series.html#pico2) | The microcontroller | [60 RON](https://www.optimusdigital.ro/en/esp32-boards/12933-plusivo-esp32-and-ble-compatible-wireless-development-board.html) | +| [28BYJ48 stepper motor module and ULN2003 driver x5](https://www.mouser.com/datasheet/2/758/stepd-01-data-sheet-1143075.pdf) | The microcontroller | [94.9 RON](https://www.bitmi.ro/module-electronice/modul-motor-pas-cu-pas-28byj48-si-driver-uln2003-10399.html) | + +## Software + +| Library | Description | Usage | +|---------|-------------|-------| +| [defmt_rtt & panic_probe](https://github.com/knurling-rs/defmt/blob/main/README.md) | RTT-based logging and panic handler | Used to stream debug log messages from the pico to the terminal | +| [defmt](https://github.com/knurling-rs/defmt/blob/main/README.md) | Deferred formatting logging framework | Used to provide low_overhead logging macros for terminal diagnostics | +| [embassy_executor](https://github.com/embassy-rs/embassy) | Asynchronous task execution engine | Used to manage and run async tasks on the microcontroller | +| [embassy_rp](https://github.com/embassy-rs/embassy) | Hardware peripheral access library for raspberry pi pico | Used to initialize hardware peripherals, including GPIO pins and UART serial communication | +| [embassy_time](https://github.com/embassy-rs/embassy) | Asynchronous time managment library | Used to handele precise non-blocking delays between stepper motor steps | +| [serde](https://github.com/serde-rs/serde) | Framework for serializing and deserializing data structures | Used alongside postcard to translate custom finger coordinate structs into raw bytes from transmission | +| [nb](https://github.com/rust-embedded/nb) | Non-blocking I/O abstraction wrapper | Used to block on non-blocking operations like ADC conversions | + +| [esp_backtrace](https://github.com/esp-rs/esp-backtrace) | Panic and backtrrace handler for Espressif chips | Used to catch system crashes and print descriptive backtrace error to the console. | +| [esp_hal](https://github.com/esp-rs/esp-hal) | Hardware abstraction layer for Espressif microcontrollers| Used to configure and control hardware peripherals like GPIO output pins, ADCs, timers, and UART transmission lines. | + +| [esp_println](https://github.com/esp-rs/esp-println) | Print infrastructure for Espressif chips | Used to output text strings and debug info directly to the serial console via peintln! | + +| [esp_wifi]() | Wi_Fi and ESP-NOW protocol driver for ESP chips | Used to initialize wireless connectivity and broadcast glove sensor data via ESP-NOW | + + + + + +