PowerPoint PresentationHydraulic McKibben Muscles
Project Goals
Design and build a fully submersible robotic fish platform powered by McKibben muscles
Execute realistic fish motion with a fish-like appearance
Prove the feasibility of hydraulic, autonomous McKibben muscles
Use the surrounding fluid as the actuation fluid
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A fluid-pressure powered muscle
Radial expansion causes axial contraction
Weaved
Sleeve
[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.okayama-u.ac.jp/kouseigaku/research/2009/system/spreader/reseach_e.html
Removed the fixed symbol, will mess with it later to show the animation going the other way as generating a force, time permitting
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A fluid-pressure powered muscle
Radial expansion causes axial contraction
Pressurized Fluid
[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.okayama-u.ac.jp/kouseigaku/research/2009/system/spreader/reseach_e.html
Removed the fixed symbol, will mess with it later to show the animation going the other way as generating a force, time permitting
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Applications to:
Manufacturing
[3]
Call them air or hydraulic or McKibben muscles? What’s the manufacturing application?
Would be nice if we could strengthen this slide. Multiple applications, like ankle foot orthotics?
Increased visibility and demonstration of their capabilities advances them toward other applications
Source: http://edge.rit.edu/edge/P14253/public/FinalDocuments/Final_paper/P14253_TechPaper_Final.docx
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resulting in:
Can be represented as distinct segments with waveforms
Phase delay between waveforms captured in solenoid timing
Appearance
[3]
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Results
Videos:
1. Turning video: times 0:02-0:08 (captures it turning). 6 sec.
2. GoPro video of fish coming towards and going past the camera: times 0:11-0:19. 8 sec.
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Results
Videos:
1. Turning video: times 0:02-0:08 (captures it turning). 6 sec.
2. GoPro video of fish coming towards and going past the camera: times 0:11-0:19. 8 sec.
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Summary
Results:
Realistic, successful, inexpensive prototype
Unique Design Features:
First autonomous design to utilize air muscles in hydraulic configuration
Uses surrounding medium as working fluid with no onboard storage requirements
Onboard controls with Bluetooth communication
Applications
Underwater exploration
Military surveillance
Marine research
I would change this to your Summary slide and lay it out something like below. You could move the for more info to the Acknowledgements slide. I would take out anything related to Imagine or exceeding customer requirements since it is a robotic design competition and they are more interested in your robot design than our senior design process.
Results:
Realistic, successful, inexpensive prototype
Unique Design Features:
1st autonomous design to utilize air muscles in hydraulic configuration
No onboard fluid reservoir required
Onboard controls with Bluetooth communication
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Acknowledgements
Funding for the project has been provided by Dr. Lamkin-Kennard, and the RIT Multidisciplinary Senior Design program.
Special thanks to:
Dave Hathaway and the ME Machine Shop staff
Kwadwo Opong Mensah
For more information:
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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.okayama-u.ac.jp/kouseigaku/research/2009/system/spreader/reseach_e.html
[2]  Meller, M. A., Tiwari, R., Wajcs, K. B., Moses, C., Reveles, I., and Garcia, E., 2012, “Hydraulically actuated artificial muscles,” p. 83401L–83401L–17, http :// proceedings.spiedigitallibrary.org/proceeding.aspx?articleid=1312623
[3] Fickenscher, W., Warren, J., Taddeo, J., Jasinski, C., and Mason, E., 2014, P14253 Home, 7/17/14, http:// edge.rit.edu/content/P14253/public/Home
[4] Jian-Xin, X., Qinyuan, R., Wenchao, G., and Xue-Lei, N., 2012, "Mimicry of Fish Swimming Patterns in a Robotic Fish," Proc. Industrial Electronics (ISIE), 2012 IEEE International Symposium on, pp. 1274-1279,