MSD Underwater Mc Kibben Muscle Manipulator P 14253

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MSD: Underwater Mc. Kibben Muscle Manipulator [P 14253] Problem Definition Review March 12, 2021

MSD: Underwater Mc. Kibben Muscle Manipulator [P 14253] Problem Definition Review March 12, 2021 Rochester Institute of Technology 1

Agenda § § § § Introduce Team Project Background Problem Statement and Project Goals

Agenda § § § § Introduce Team Project Background Problem Statement and Project Goals Stakeholders Use Scenarios Customer Requirements Engineering Requirements Preliminary Project Plan March 12, 2021 Rochester Institute of Technology 2

Team Introduction & Roles March 12, 2021 Team Member Role Will Fickenscher Project Manager

Team Introduction & Roles March 12, 2021 Team Member Role Will Fickenscher Project Manager Erika Mason Electrical Engineer Jared Warren Mechanical Engineer Joe Taddeo Mechanical Engineer Chris Jasinski Mechanical Engineer Rochester Institute of Technology 3

Project Background § Boeing approached RIT to strengthen their relationship § Boeing is interested

Project Background § Boeing approached RIT to strengthen their relationship § Boeing is interested in funding research to: § § Develop innovative technologies Improve current Unmanned Underwater Vehicle (UUV) systems § Boeing’s interest in RIT: § Mc. Kibben Muscle Robotic Manipulators currently being researched and developed P 08024: Air Muscle Artificial Limb #2 March 12, 2021 Rochester Institute of Technology 4

Problem Statement § Current State § § Boeing does not offer a robotic manipulator

Problem Statement § Current State § § Boeing does not offer a robotic manipulator on its UUV (Unmanned Underwater Vehicle) Competitors offer manipulators which use hydraulically actuated pincher-style arms § Environmental risks § Low dexterity Echo Ranger March 12, 2021 Rochester Institute of Technology 5

Current Product- Kraft Telerobotics-Raptor § § § § Part electric/part hydraulic Joystick controlled with

Current Product- Kraft Telerobotics-Raptor § § § § Part electric/part hydraulic Joystick controlled with feedback Gripper Can operate at depths more than 7 miles under the ocean surface Has 6 degrees of freedom Potential to leak hydraulic fluid into environment Lifts 500 lb. Max Kraft Raptor Arm March 12, 2021 Deep sea exploration sub with a Kraft Telerobotics arm Rochester Institute of Technology 6

Problem Statement § Desired State § Highly dexterous anthropomorphic robotic manipulator that operates at

Problem Statement § Desired State § Highly dexterous anthropomorphic robotic manipulator that operates at depth § Project Goals § § Produce a functional underwater Mc. Kibben Muscle Manipulator prototype Utilize surrounding water as the actuation medium (eco-friendly) § Constraints § § Adhere to Boeing engineering standards and ITAR regulations Use Mc. Kibben Muscle technology Festo Airic’s Arm Shadow Robotics March 12, 2021 Rochester Institute of Technology 7

What is a Mc. Kibben Muscle § Flexible hosing that expands under pressure Mc.

What is a Mc. Kibben Muscle § Flexible hosing that expands under pressure Mc. Kibben Muscle § Advantages over Hydraulics: § § § Lightweight Greater power-to-weight ratio Low cost Compliant Smooth action March 12, 2021 Rochester Institute of Technology 8

Additional Project Goals § Appropriate design, development, and lessons-learned documentation to be passed on

Additional Project Goals § Appropriate design, development, and lessons-learned documentation to be passed on to future MSD teams § Suitable mechanical interface to attach manipulator to UUVs or Exosuits § An intuitive user-control interface Kraft User-Control March 12, 2021 Xbox Controller Rochester Institute of Technology Nuytco Research Ltd. Exosuit 9

Stakeholders March 12, 2021 Rochester Institute of Technology 10

Stakeholders March 12, 2021 Rochester Institute of Technology 10

Use Scenarios Considered § Underwater Research § Locating and uncovering artifacts § Better use

Use Scenarios Considered § Underwater Research § Locating and uncovering artifacts § Better use of tools § Tools will not have to be reengineered to be used for a gripper/clamp manipulator § Fixing mechanical issues § Having a “hand” readily available will make repairing underwater oil rigging systems much simpler and safer March 12, 2021 Rochester Institute of Technology 11

Customer Requirements Customer Rqmt. # Importance CR 1 3 CR 2 9 CR 3

Customer Requirements Customer Rqmt. # Importance CR 1 3 CR 2 9 CR 3 9 Category Description Bring new ideas to the industry Innovation Offer customers added functionality Dextrous hand Mechanics CR 4 9 CR 5 9 Resembles a full size arm and hand (anthropomorphic) CR 6 9 Waterproof CR 7 3 CR 8 3 CR 9 1 CR 10 9 Quick feedback of user commands CR 11 3 Reliable CR 12 1 CR 13 3 Durable/rugged CR 14 9 Environmentally safe CR 15 9 CR 16 9 CR 17 3 Cost CR 18 1 Compatibility March 12, 2021 Lift objects of various weights Underwater Performance Corrosion-resistant Operate at high pressure Intuitive for user Ease of Use Easy to Maintain Safety Easy to repair Safe for user Component failure isn't detrimental to vehicle Fits within budget/grant Interface easily with ROV or an exosuit Rochester Institute of Technology 12

Engineering Requirements rqmt. # Importance ER 1 ER 2 ER 3 9 3 3

Engineering Requirements rqmt. # Importance ER 1 ER 2 ER 3 9 3 3 ER 4 ER 5 ER 6 ER 7 ER 8 ER 9 ER 10 ER 11 9 3 3 3 9 Source Function CR 1, CR 2 Innovative Ideas CR 4 Hand Operation CR 4 CR 3 CR 4 CR 5 CR 5 Arm Operation Unit of Measure Use Mc. Kibben Muscles Min Gripping Force Max Gripping Force Hold various shapes Lifting Capacity Extension Range Shoulder Azimuth Shoulder Elevation Elbow Pivot Wrist Pitch Wrist Roll Sytem functions at depth % Corrosion on system Binary N N Binary N m degrees degrees m Scale New user able to quickly and effectively operate arm Scale Preferred Direction Down Up Up Target Up Up Up Down ER 12 ER 13 9 9 1 ER 14 3 ER 15 3 CR 9 Sensitivity deg/deg, lb/lb… Target ER 16 ER 17 9 CR 10 Delay ms Down 1 3 CR 10 CR 11 Transmit Rate kbps ER 20 ER 21 1 3 9 CR 12 CR 13 CR 14 ER 22 9 CR 15 ER 23 3 CR 17 ER 18 ER 19 March 12, 2021 CR 5 CR 6, CR 8 Underwater Operation CR 7 Engr. Requirement (metric) CR 9 Intuitive Operation Work Cycles N Reliability Max time for repair Continue to function after drop test Release any harzardous fluids/materials min Binary Safe Operation Safe practices for operation are expressed to Binary operator before use Budget Cost Rochester Institute of Technology Up Up Up Down - $ Down 13

Preliminary Schedule *Project Definition Review Revise & Rework System Design Funct Decomp Benchmark important

Preliminary Schedule *Project Definition Review Revise & Rework System Design Funct Decomp Benchmark important tech Engineering Analysis Concept Generation Create Pres. For SDR *SDR Revise & Rework March 12, 2021 Rochester Institute of Technology Subsystem Design 14

Questions, Comments, or Concerns? March 12, 2021 Rochester Institute of Technology 15

Questions, Comments, or Concerns? March 12, 2021 Rochester Institute of Technology 15