1 / 28

P 12029 Biomimetic “Robo” Ant

P 12029 Biomimetic “Robo” Ant. The Team. Sponsor Dr. Lamkin-Kennard. Consultant Mike Zona (Xerox). Chris Anderson, Jon Gibson, Kurt Stratton, Josh Koelle. agenda. Project Definition/Mission Statement.

kamea
Download Presentation

P 12029 Biomimetic “Robo” Ant

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. P 12029Biomimetic “Robo” Ant

  2. The Team • Sponsor • Dr. Lamkin-Kennard • Consultant • Mike Zona (Xerox) Chris Anderson, Jon Gibson, Kurt Stratton, Josh Koelle

  3. agenda

  4. Project Definition/Mission Statement • The mission of the Robo Ant team is to design and build a biomimetic ant capable of movement via a self-contained air muscle system. • This Ant will utilize the McKibben Air Muscle technology.

  5. Legacy Projects • P 08023/08024 – Artificial Limb I/II • P 09023 – Artificial Limb III (Monster Hand) • P 10029 - Process Development for Air Muscles • P 11029 – Biomimetic Crab • Robo Ant should Build off these previous projects learning's • Parts are available from previous projects for us to use

  6. McKibben Muscle Technology • First developed in the 1950’s • Constructed of surgical tubing surrounded by wire sleeving. • When the tubing is inflated, the sleeving contracts. http://www.anupamtimes.com/2010/03/robotic-arms-biorobotics.html

  7. McKibben Muscle Historic Data • Long history at RIT, data on senior design projects since 2007-2008 school year. • All groups research and findings have been well documented. • Muscle selection will be based on historic data • Theoretical equations exist as outlined by Chou and Hannaford in Measurement and Modeling of McKibben Pneumatic Artificial Muscles

  8. Displacement for Diameters

  9. Displacement for Pressures

  10. Tripod Layout Ant Locomotion http://www.clker.com/clipart-11220.html • The ant’s use of a tripod cadence allows for simplifications in our design: • Possible reduction in number of McKibben air muscles • Simplification in logic

  11. Ant Locomotion Tripod Layout Ant Cadence http://www.clker.com/clipart-11220.html Real-time control of walking By Marc D. Donner

  12. Customer Needs Importance:1= Lowest, 9 = Highest

  13. Weighted Customer Needs

  14. Engineering Specs

  15. House of Quality

  16. Weighted Engineering Specs

  17. Function Decomposition

  18. System Connections Ant Moves Forward

  19. Walking Logic

  20. Morph Chart

  21. Morph Chart

  22. Overall Design Pugh Chart

  23. Air Supply Pugh Chart

  24. Power Supply Pugh Chart

  25. Risks

  26. Risks

  27. Schedule

More Related