Team P 14029 Mc Kibben Muscle Robotic Fish

Team P 14029 Mc. Kibben Muscle Robotic Fish Week 3 Review Zak Novak John Chiu Seaver Wrisley Felix Liu

AGENDA • Project statement • Team members and roles • Norms and values • Stakeholders • Customer needs and constraints • Engineering requirements • Background information • Deliverables • Timeline

PROJECT STATEMENT This project is designed to prove the feasibility of Mc. Kibben muscles for use in underwater robotic applications, and to develop core technology and a platform for other teams to use in the future. The project specifically seeks to develop a soft-bodied pneumatic fish that looks, moves, and feels like a fish. The robotic fish should be capable of swimming forward, backward, and turning, most likely using Body Caudal Fin propulsion, and the primary mechanism for generating the swimming motion must be Mc. Kibben muscles.

TEAM ROLES Team Member Major Role Zachary Novak Mechanical Engineer Project Manager Seaver Wrisley Mechanical Engineer Lead Engineer Felix Liu Mechanical Engineer Controls & Electronics Lead John Chiu Mechanical Engineer Mechanical Design Lead

NORMS & VALUES • Expectations – do MSD first • Roles in the form of leads over specific areas based on team members individual strengths • Action items assigned at weekly team meetings • Decisions by consensus • Frequent updates and communication with Faculty Guide • Continual improvement

STAKEHOLDERS • Primary customer • Dr. Kathleen Lamkin-Kennard • Secondary customers • • Future MSD teams RIT Underwater researchers Others interested in underwater exploration

CUSTOMER NEEDS AND CONSTRAINTS

ENGINEERING REQUIREMENTS

WHAT IS A MCKIBBEN MUSCLE? • Fluid actuated muscle • Can use water, air, etc. • Internal pressure causes radial expansion and axial compression • Nonlinear, but repeatable [1]

HOW A MCKIBBEN MUSCLE WORKS Air hose Weaved Pneumatic Sleeve Bladder End Caps

HOW A MCKIBBEN MUSCLE WORKS Pressurized Air [2]

FINDINGS FROM PREVIOUS AIR MUSCLE PROJECTS • Actuation speeds, force vs. deflection characterization data • Can be used underwater • Options for working fluids • Coordination of multiple muscles [3 -6]

BACKGROUND – FISH LOCOMOTION [3 -6]

BACKGROUND – FISH LOCOMOTION Median and/or Paired Fin (MPF) Body and/or Caudal Fin (BCF) Undulation: >1 wave on fin Oscillation [8] Oscillation: <1/2 wave [7] Implementation Propulsion Type Difficulty Speed Maneuverability BCF MPF Undulation Moderate- Low Moderate High Moderate - Low High Moderate High MPF - Oscillation Moderate Low Moderate

BACKGROUND – ROBOTIC FISH RESEARCH [9] [10] [12] [11]

TIMELINE

DELIVERABLES • A working prototype for under $500 • Moves like a fish • Goes forward • Goes backwards • Turns • Looks like a fish • Feels like a fish • Bill of materials • Documentation of all analyses • Detailed operator’s manual • Supporting test data

QUESTIONS?

REFERENCES [1] Laboratory, S. I. , 2013, Development of High Hydraulic Pressure Mckibben Artificial Muscle and Its Application to Light Spreader, 8/6/13, http: //www. act. sys. okayamau. ac. jp/kouseigaku/research/2009/system/spreader/reseach_e. html [2] http: //en. wikipedia. org/wiki/File: Sam_animation-real-muscle. gif [3] P 08024, R. M. T. , 2007, Air Muscle Artificial Limb Design, http: //edge. rit. edu/content/P 08024/public/Home [4] P 12029, Biomimetic Robo Ant, 2012, http: //edge. rit. edu/content/P 12029/public/Home [5] P 11029, Biomimetic Crab, 2011, http: //edge. rit. edu/content/P 11029/public/Home [6] P 13029, Robotic Tiger, 2013, http: //edge. rit. edu/edge/P 13029/public/Home/ [7] http: //esi. stanford. edu/exercise 4. htm [8] Kuntz, 2010, http: //www. youtube. com/watch? v=2 a. Oh 4 ad 0 Li 8 [9] Ye, A centimeter-scale autonomous robotic fish actuated by IPMC actuator, 2007, http: //ieeexplore. ieee. org/xpl/article. Details. jsp? reload=true&tp=&arnumber=4522171&query. Text%3 Drobotic+fis h [10] Liu, Novel mechatronics design for a robotic fish, 2005, http: //ieeexplore. ieee. org/xpl/article. Details. jsp? tp=&arnumber=1545283&query. Text%3 Drobotic+fish [11] Liu, Essex Robotic Fish, 2006, http: //cswww. essex. ac. uk/staff/hhu/jliua/ [12] Xu, Mimicry of fish swimming patterns in a robotic fish, 2012, http: //ieeexplore. ieee. org/xpl/article. Details. jsp? tp=&arnumber=6237273&query. Text%3 Drobotic+fish

TL; DR + = Robotic Fish