IV Buddy
Hardware
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Swerve Drive
DC Motor directly drives the wheel.
Servo controls larger gear, which transmits rotation to wheel assembly.
IV stand is able to change directions without changing heading, making navigation and patient use easier.
Hardware
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Lifting system
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Linear Actuator that is purchased off-the-shelf.
Lifting capacity of up to 35 lbs.
Running on 12V while the rest of the system is on 6V.
Crossbar is added to attach IV bags
Software
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Camera
HD LifeCam HD-3000 webcam
Camera identifies position(x,y,z) and orientation of AR tags
Tag identification and serial communication handled using ROS and ar_track_alvar package.
Sensing
​Ultrasonic Sensors
Used for obstacle detection and avoidance.
Suite of six HC-SR04 ultrasonic sensors, paired receiver/transducer.
Reads distance to the nearest object.