BIOMIMETIC CRAB ~ P11029 ~. BACKGROUND
~ P11029 ~
In previous years, Dr. Lamkin-Kennard has sponsored Senior Design projects that utilize pneumatic air muscles to model hands and other human joints. The biomimetic crab builds on this research to showcase the underwater capabilities of pneumatically actuated muscles.
AIR MUSCLE DESIGN
From user input, the program links with the electronic relay, which then controls the pneumatic solenoids that manipulate the crab.
These are simply assemblies of two plastic stoppers, nylon mesh and thin walled Silicone tubing. Air pressure is applied and the muscle contracts.
The biomimetic crab met the fit and function of all customer requirements. After a successful build and testing phase the crab behaves as we designed. Expectations were exceeded in muscle actuation, underwater performance, control dynamics and operational noise.
User friendly LabView front panel allows any user to control the crab. The logic behind the front panel prevents certain functions that can damage the system.
A stress test was performed in SolidWorks on the acrylic umbilical cord mount. It shows that the max stresses are well below yield strength when the air lines were fully pressurized.
The biomimetic crab may be a platform for future senior design projects to build on. Expansions on this project could include making a self contained biomimetic device with a built in air source. Such a device would allow for locomotion.
A prototype was developed to prove the claw’s mechanical design.
The integrated control unit houses all control hardware to minimize exposure to the environment while protecting the system integrity.
We would like to give special thanks to:
Dr. Lamkin-Kennard, Bill Nowak, Professor John Wellin, John Bonzo and the RIT Brinkman Lab, Chris Fisher and the MSD program, Dr. Kempski, Sylvan Hemmingway, YateenShembade, and Fine Line Prototyping. Through your donation and time we were able to successfully complete our project.
Joe Mead (ME), Casey O'Connell (ME),
Shaynae Moore (ME), Bill Dwyer (ME)