Modular Pneu-Facade system

8/3/2019 Modular Pneu-Facade system

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Introduction

Biologically Inspired Design

Smart Bio-Architecture SystemArchitecture

Smart Technologies


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Schwendener's (1874) plate XI used to

illustrate the presence of I-beam-shaped

reinforcing tissues (in yellow)

Source: http://www.amjbot.org

spider leg (hydraulic actuation)

Rapid plant movement

Venus fly trap (top), Mimosa leaf (below)

Source:

http://en.wikipedia.org/wiki/Rapid_plant_m

ovement

Bee Beetle antenna joint ( ball joint)


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Living Organisms1. Undergo metabolism

2. Maintain homeostasis3. Possess a capacity to grow

4. Respond to stimuli

5. Reproduce

6. Adapt to their environment in successive generations through

natural selection

7. More complex living organisms can communicate through various

means


Wadhawan, V. K. (2007). Smart structures : Blurring the distinction between

the living and the nonliving. Oxford ;New York: Oxford University Press.

Hallmarks ofbiological design1. Modularity

2. Robustness

3. Kinetic Proofreading

4. Hierarchical Design


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Electroactive polymers(EAPs)

EAPs are polymers that undergo a large amount of

deformation when electrical power is applied.(up to 380%).

Application: sensors, actuations, artificial muscles, etc.

Dielectric EAP

- Actuation is caused by electrostatic forces between two

electrodes that squeezes the polymer

- Able to hold displacement without additional position

- High mechanical energy density with low electrical power- Requires high actuation voltage(several kV)

Ionic EAP

- Actuation is caused by the displacement of ions inside the

polymer

- Need energy to hold displacement- Higher electrical power needed

- Needs to be maintain wetness

ShapeShift, Computer Aided Architectural Design

(ETHZ)/ the Swiss Federal Laboratories for Materials

Science and Technology (EMPA)

Jellyfish, Environmental Robots Incorporated

Smart Technologies


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Shape-memory alloy(SMA)

Metal alloys that returns to its original cold-forged

shape when heated.

Main Types

- Copper-zinc-aluminum-nickel

- Copper-aluminum-nickel

- Nickel-titanium (NiTi) alloys

One-way SMA Two-way SMALiving Glass, The Living

Reef, Urbana/ Radical_Craft

Smart Technologies


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Homeostatic Facade System


DeckerYeadon


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flectofin

Institute of Building Structure and Structural Design, University of Stuttgart

Hingeless and continuously adjustable flapping mechanism on the basis of biomimetic principles

Bird-Of-Paradise flower pollination

mechanism

Elastic Kinematics without hinges

Case Study


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The Media-TIC Building

The first layer is

transparent, the second

(middle)and third layers

have a reverse pattern

design which, when

inflated and joined

together, create shade,

or in other words a

single opaque layer

Case Study

Augmenting the air density of the ETFE

cushions with nitrogen particles.

Architect: Cloud9

The Media-TIC building utilizes an inflatable Ethylene Tetra

Fluoro Ethylene (ETFE) skin that is regulated by a solar-

powered automatic digital light sensor as the sun changesthroughout the day. The skin is made up of different ETFE

air chambers that are expanded or contracted as the light

changes. The ETFE skin allows light to filter through but

shades persons inside from direct sunlight reducing the UV

rays by 85%. The skin is also anti-adherent which means

little need for cleaning the exterior.


9/32Pneumatic Systems

Air Forest

UPDATED

Architect: Mass Studies

pneumatic pavilion absorbs passing wind

currents to stay inflated and provides

shade while allowing sunlight to filter

through, creating a vibrant public space.

The 1,400 square meter structure is

easily transported, sets up in a snap

without any building materials, and at

night it lights up in a beautiful display ofluminous pillars. The nylon structure

consists of 9 hexagonal canopy units and

is stabilized by anchors and lighting

equipment in each of its 35 columns,

allowing it to undulate and shift in wind

and changing weather.


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Funktionide

Designer: Stephan Ulrich, Elpodo studio


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Pneumatics/ Hydraulics

A branch of technology, which studies the

application of use of pressurized gas or

liquid to actuate motion

Advantage over Mechanical actuators

- Comparably more cheaper, safer,

flexible, simple and reliable

Pneumatics vs. Hydraulics

- Pneumatics(80-100psi): easy control,

standard components, little maintenance

required, compressed gas can be stored

- Hydraulics(1000-5000psi): no energy

loss(liquid), capable of moving higher

loads, minimum spring action(liquid is

basically incompressible)

AirJelly, Festo

Jamming Skin Enabled Locomotion, iRobot

Soft Robotic Gripper based on PnueNets,Whitesides Group, HarvardSmart Technologies


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Soft robotics: Biological inspiration, state of the art,

and future researchDeepak Trivedi, Christopher D. Rahn, William M. Kierb and

Ian D. Walker

Department of Mechanical and Nuclear Engineering, The

Pennsylvania State University

Department of Biology, The University of North Carolina at

Chapel Hill

Department of Electrical and Computer Engineering,

Clemson University

Examples of hydroskeletons and muscular hydrostats: (a)

tube feet in starfish, (b) octopus arms, (c) colonial

anemone, (d)mammalian tongue, (e) squid, (f) elephant

trunk, (g) echinoid, (h) Illex illecebrosus, (i) inchworm, and

(j) snail feet.

Classification of robots based on materials and degrees

of freedom. Hatched area represents empty set.

A schematic of open (a) and closed (b) stomata in plant

cells caused by osmotic pressurisation.

Capabilities of hard and soft robots: (a) dexterity, (b)

position sensing, (c) manipulation and (d) loading.


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Soft Robotics for ChemistsFilip Ilievski, Aaron D. Mazzeo, Robert F. Shepherd, Xin

Chen, and George M. Whitesides

Wyss Institute for Biologically Inspired Engineering,Harvard University

Kavli Institute for Bionano Science & Technology

The objective of this work is to demonstrate a type of

design that provides a range of behaviors, and that offers

chemists a test bed for new materials and methods of

fabrication for soft robots. Our designs use embedded

pneumatic networks (PneuNets) of channels in elastomers

that inflate like balloons for actuation.[30] We used aseries of parallel chambers embedded in elastomers as

repeating components. Using intuition and empirical

experimentation, we stacked[31] or connected these

repetitive components to design and test prototypical

structures that provide complex motion. In this type of

design, complex motion requires only a single source of

pressure. Appropriate distribution, configuration, and size

of the PneuNets determine the resulting movement.


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Telemetric Artificial Skin for Soft RobotMitsuhiro HAKOZAKI, Katsuhiko NAKAMURA and Hiroyuki

SHINODA

Department of Electrical & Electronic Engineering,Tokyo University of Agriculture & Technology

Robots of new generation to coexist with human

harmoniously will require the sensor skin that is soft to

cover the whole body. But it would be very difficult to

fabricate such a skin with existing technology, because it is

laborious to place and wire vast amount of sensor

elements on the 3-dimensionally configured robot surface.

In this paper we propose a novel method to fabricate sucha sensor skin. The skin contains sensor chips which receive

the electrical power and transmit the tactile signal without

wires. The skin is configured in an arbitrary shape easily,

and it is elastic and tough because each sensing element

does not need any fragile wires. The fabrication of the

prototype telemetry tactile chip and experimental results

of multiple chip signal detection are shown.


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Pneumatic Muscle ActuatorsMechanical Pneumatic ActuatorsPneumatic Gripper

Rotary Actuators

Linear Actuators

Robotic Tool Changers

Robotic Load Limiter

Multi Motion Actuators

O-ring Automated Assembly

Feed Escapements


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FLARE

WHITEvoid interactive art & design

pneumatic building facade system


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AirArm

By Festo


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SkinRite10 Silicone Ecoflex Polydimethylsiloxane(PDMS)

Sil-Poxy Silicone Adhesive


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Standard 3/16" Flexible

Airline Tubing for AquariumsSyringe 100CC/ML

Active Aqua Commercial Air

Pump with 8 outlets, 70L per

minute

10 PCS Aquarium Airline Air Tube

Tubing Connectors Filters

Black & Decker ASI300 Air

Station Inflator

3 Gallon, 100 PSI Oilless Electric

Pancake Air Compressor


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DC 12V 4V230C-08

Inner Guide Type 3

Position 5 Way

Solenoid Valve

Arduino and electronic components

Sensor


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A flex sensor and a photocell sensor were tested to see

how effectively Firefly can bridge between the preliminary

designed geometry and the micro-controller. The

geometry was built using Grasshopper and Rhino, as a

parametric/ generative model. The sensor data that flows

into the Firefly components are converted using ReMap

component and Smooth component in order to

manipulate the parameters of the geometry.


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A flex sensor and a photocell sensor were tested to see

how effectively Firefly can bridge between the preliminary

designed geometry and the micro-controller. Thegeometry was built using Grasshopper and Rhino, as a

parametric/ generative model. The sensor data that flows

into the Firefly components are converted using ReMap

component and Smooth component in order to

manipulate the parameters of the geometry.


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Modular Pneu-Facade system