Biomimetic Robotic Fish Powered By Hydraulic Mc Kibben
Biomimetic Robotic Fish Powered By Hydraulic Mc. Kibben Muscles RIT Multidisciplinary Senior Design Seaver Wrisley John Chiu Felix Liu Zachary Novak
Project Goals • Prove feasibility of hydraulic Mc. Kibben muscles • Build a fully submersible robotic platform • Execute realistic fish motion with a fish-like appearance
Background: What’s a Mc. Kibben Muscle? • A fluid-powered muscle • Braided sheath and soft rubber tubing • Imagine inflating a “Chinese finger-trap. ” Pressurized Fluid
Why are they Important? Seen as a stakeholder in several technologies: • Human prosthetics – Smoother motion – Biomimetic • Soft robotics • Ideal actuators for underwater applications – Can use surrounding fluid
Formal Design Process Problem Definition and Planning System Level Design Subsystem Level Design Detailed Design Build, Test, and Integrate Final Product • Literature review and MATLAB motion simulations aided design decisions • Advanced planning allowed for optimized layout for buoyancy and C. O. G. • Preliminary testing made for efficient system integration
Design Features • • Watertight acrylic enclosure Fluid system – Internal centrifugal pump – Solenoid valve bank – Hydraulic Mc. Kibben muscles • Controls – Arduino, batteries, necessary circuitry – Water resistant electronic compartment with temperature monitoring – Bluetooth-controlled through smartphone app • Motion parameters from literature – Body-caudal type locomotion – Phase delays captured in solenoid timing • Appearance – Composite fiberglass shell with realistic paint-job – Rubberized Spandex/Lycra fabric as tail skin
Results • Video 1
Results • Video 2
Results • Video 3
Results • Very realistic, successful, and inexpensive prototype • Formal design process greatly aided in meeting deadlines, including Imagine. RIT • Went beyond customer requirements with addition of Bluetooth communication • Proves the feasibility of using Mc. Kibben muscles autonomously and hydraulically • For more information: – Project website, http: //edge. rit. edu/edge/P 14029/public/Home – Search You. Tube for “RIT Robotic Fish” – Final project paper available during the poster session
Acknowledgements This project would not have been possible without help and guidance from many individuals. Special thanks to: Dr. Kathleen Lamkin-Kennard Rick Lux Dave Hathaway, Rob Kraynik, and the ME Machine Shop Kwadwo Opong Mensah John Bonzo and the Brinkman Lab
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