2013-2014

P14253: Underwater McKibben ManipulatorChris Jasinski ME | Will Fickenscher ME | Jared Warren ME | Joe Taddeo ME | Erika

Mason EE

A very special thanks to Boeing, Kathleen Lamkin-Kennard, Rick Lux, Rob Kraynik, Jan Maneti, and the RIT ME machine shop staff for without their generous support this project would not have been possible.

Specs:•21 McKibben Muscles•15 controlled DOF•2 manual DOF•2 Pumps

Project Goal:Design, build, and test a fully functional robotic arm for Boeing using McKibben Muscle technology that can be used in underwater environments. This project is aimed at creating a more dexterous and eco-friendly manipulator that can be used with Unmanned Underwater Vehicles (UUVs).

Background:Boeing has teamed up with RIT to research and develop technical solutions to improve its UUV, the Echo Ranger. RIT was challenged to design and build a robotic manipulator that mimicked the human body, offering a high level of dexterity and control, while minimizing the potential environmental impact when used at subsea depths.

Project Customer/Sponsor: Boeing Project Guides: Kathleen Lamkin-Kennard & Rick Lux

Hand Design: Forearm Design: Arm Design:

4 Fingers

4 Joints/Finger

1 Thumb

2 DOF Wrist2 DOF Wrist

13 Muscles

9 Springs

Muscle Guide PlatesMuscle Guide Plates

Cable Tensioners

Forearm Rotation

Elbow Rotation

Torso Rotation

Shoulder Rotation

8 Muscles

Muscle Operation: Contract

ed

Relaxed

Hand Control:

Valve Operation:

Final Assembly:

Rest

Actuated

ExhaustMuscleSupply

ExhaustMuscleSupply 3-Way / 2-

Position

5-Way / 3-Position

Exhaust

Muscle B

Muscle A

Exhaust

Supply

9 Flex Sensors

Cable Connector