Attachment 01 - Salient Characteristics.pdf
PDF 144 KB Posted
- Attached to
- USAFA Assistive Technology Robotic Arm Federal contract opportunity
- Solicitation number
- FA700025Q0005
About this file
This document is a Salient Characteristics specification for an Assistive Technology Robotic Arm required by the US Air Force Academy (USAFA) for their ECE 463 Assistive Technology Capstone course from Fall 2024 through Spring 2025 and beyond. The robotic arm will integrate with an existing wheelchair interface system that uses HoloLens2 gaze technology and voice commands for users with tetraplegia.
The technical specifications require a fully modular robotic arm weighing 4-7 kg with 6+ degrees of freedom, capable of lifting 0.5 kg at full reach and 3.5 kg at half reach, with a horizontal reach of 750mm or greater. The system must be DC powered (24V-48V), include a functional gripper with interchangeable torque options (1.1 Nm or 2.0+ Nm), provide real-time wireless operation (100 Hz - 1 kHz), operate at temperatures up to 50°C, and include an API supporting MATLAB, Python, C++, and ROS. Additional requirements include a GUI interface for system control and monitoring, comprehensive support resources, and in-person training options. The arm must achieve precision of 3mm or better and accuracy of 2mm or better.
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Other files for this federal contract opportunity
| File | Type | Posted |
|---|---|---|
| Attachment 03 - FA700025Q0005 Provisions and Clauses.pdf | ||
| RFQ Robotic Arm_Combined Synopsis-Solicitation_FA700025Q0005.pdf | ||
| Attachment 02 - Buy American Certificate.pdf |
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Salient Characteristics:
The US Air Force Academy (USAFA) has determined a need of a Assistive Technology Robotic Arm. The Robotic Arm is in support of ECE 463 Assistive Technology Capstone for Fall 2024 through Spring 2025, and beyond. Previous year’s teams have developed a wheelchair interface that could be driven by a user suffering from tetraplegia, by using simple “gaze” technology (through the HoloLens2 augmented reality headset) and voice commands. This project has advanced over the past five years, gaining attention from the assisted technology medical community and local media. The next evolution is to integrate a “gaze” and voice controlled robotic arm to the system to allow expanded capabilities such as lifting and moving items, pressing buttons, and opening doors.
Technical Specifications for Robotic Arm Integration:
1. Modularity and Customization o The Robotic Arm shall be fully modular and customizable by the user, with physical actuators, interface electronics, and software.
2. Pre-Assembly Option o The Robotic Arm shall have an option to be supplied pre-assembled.
3. System Weight o The Robotic Arm shall have a weight between 4-7 kg.
4. Degrees of Freedom o The Robotic Arm shall have 6 or more degrees of freedom (DoF) with the capability to expand functionalities.
5. Lifting Payload Capability o The Robotic Arm shall be capable of lifting 0.5 kg at full reach and up to
3.5 kg at half reach.
o The Robotic Arm shall have a horizontal reach of approximately 750 mm or greater.
6. Power Requirements o The Robotic Arm shall be DC powered, capable of operating on battery power within the range of 24V - 48V.
o The system's battery shall have a capacity of greater than 80Wh but less than 100Wh.
7. Gripper Mechanism o The Robotic Arm shall include a functional gripper mechanism with interchangeable grip torque options.
Option 1: Grip torque up to 1.1 Nm.
Option 2: Grip torque up to or greater than 2.0 Nm.
8. Repeatability and Accuracy o The Robotic Arm shall provide repeatable arm movements with a precision of 3 mm or better and an accuracy of 2 mm or better.
9. Real-Time Operation o The Robotic Arm shall provide real-time operation with wireless capability, allowing control and feedback at rates between 100 Hz and 1 kHz.
10. Temperature Tolerance o The Robotic Arm shall be able to operate at ambient temperatures up to 50°C.
11. API Capabilities o The Robotic Arm shall include an Application Programming Interface (API) supporting multiple languages, including MATLAB, Python, C++, and ROS.
o The API shall support trajectory generation for smooth arm movements.
12. Safety Controls o The Robotic Arm shall provide standard safety controls to prevent major system or component failures.
13. Graphical User Interface (GUI) o The Robotic Arm shall include a GUI software interface for simultaneous control and monitoring of system operation.
The GUI shall control position, velocity, and torque for every degree of freedom.
The GUI shall monitor and display vital system parameters (e.g., position, velocity, torque, inertial measurements, current/voltage, temperature) of each actuator.
Data shall be presented in a user interface and stored for debugging and development.
14. System Support o The supplier shall include comprehensive support resources, such as base code, detailed tutorials, troubleshooting guides, and instructional video content.
15. Training o The supplier shall provide in-person training options for the operation and maintenance of the Robotic Arm.
| 1. Modularity and Customization |
| 2. Pre-Assembly Option |
| 3. System Weight |
| 4. Degrees of Freedom |
| 5. Lifting Payload Capability |
| 3.5 kg at half reach. |
| 6. Power Requirements |
| o The Robotic Arm shall be DC powered, capable of operating on battery power within the range of 24V - 48V. |
| 7. Gripper Mechanism |
| 8. Repeatability and Accuracy |
| 9. Real-Time Operation |
| 10. Temperature Tolerance |
| 11. API Capabilities |
| 12. Safety Controls |
| 13. Graphical User Interface (GUI) |
| for every degree of freedom. |
| 14. System Support |
| o The supplier shall include comprehensive support resources, such as base code, detailed tutorials, troubleshooting guides, and instructional video content. |
| 15. Training |
| o The supplier shall provide in-person training options for the operation and maintenance of the Robotic Arm. |
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