Download - P 12029 Biomimetic “Robo” Ant
P 12029Biomimetic “Robo”
Ant
Consultant◦ Mike Zona (Xerox)
The Team Sponsor
◦ Dr. Lamkin-Kennard
Chris Anderson, Jon Gibson, Kurt Stratton, Josh Koelle
agenda
The mission of the Robo Ant team is to design and build a biomimetic ant capable of movement via a self-contained air muscle system.
This Ant will utilize the McKibben Air Muscle technology.
Project Definition/Mission Statement
P 08023/08024 – Artificial Limb I/II P 09023 – Artificial Limb III (Monster Hand) P 10029 - Process Development for Air
Muscles P 11029 – Biomimetic Crab
Robo Ant should Build off these previous projects learning's
Parts are available from previous projects for us to use
Legacy Projects
First developed in the 1950’s
Constructed of surgical tubing surrounded by wire sleeving.
When the tubing is inflated, the sleeving contracts.
McKibben Muscle Technology
http://www.anupamtimes.com/2010/03/robotic-arms-biorobotics.html
Long history at RIT, data on senior design projects since 2007-2008 school year.
All groups research and findings have been well documented.
Muscle selection will be based on historic data
Theoretical equations exist as outlined by Chou and Hannaford in Measurement and Modeling of McKibben Pneumatic Artificial Muscles
McKibben Muscle Historic Data
Displacement for Diameters
Displacement for Pressures
Displacement (Length)
0
0.2
0.4
0.6
0.8
1
1.2
1.4
2 2.5 3 3.5 4 4.5 5 5.5Length (in)
Dis
plac
emen
t (in
)
20 PSI
40 PSI
60 PSI
Tripod Layout The ant’s use of a
tripod cadence allows for simplifications in our design:◦ Possible reduction in
number of McKibben air muscles
◦ Simplification in logic
Ant Locomotion
http://www.clker.com/clipart-11220.html
Ant Locomotion Tripod Layout
Ant Cadencehttp://www.clker.com/clipart-11220.html
Real-time control of walking By Marc D. Donner
Customer Needs
Importance:1= Lowest, 9 = Highest
Affinity Group Name Customer Objective Number Importance Customer Objective Description
1.1 9 Capable of forward movement1.2 3 Capable of backward movement1.3 9 Use McKibbon Muscles1.4 1 Capable of turning2.1 3 Controlability2.2 9 Self contained air supply2.3 1 Self contained controls2.4 3 Single tether if needed2.5 9 Rechargability3.1 3 Has proper proportion
3.2 3 Walks in a motion that is similar to an ant
3.3 9 Looks professional
4.1 9 Usage instructions provided
4.2 3 Mechanical Drawings Provided4.3 3 Re-Uses Materials from previous groups4.4 3 Costs Under $3504.5 3 Control Documentation Provided
Documentation
Aesthetics
Movement
Controls
Weighted Customer NeedsCustomer Need WeightUse McKibbon Muscles 13%Capable of forward movement 12%Self contained air supply 10%Mechanical Drawings Provided 9%Re-Uses Materials from previous groups 9%Rechargability 8%Usage instructions provided 8%Has proper proportion 6%Walks in a motion that is similar to an ant 6%Looks professional 5%Control Documentation Provided 5%Controllability 4%Self contained controls 2%Single tether if needed 2%Capable of backward movement 1%Costs Under $350 1%Capable of turning 0%
Engineering SpecsFunctional
Module NameEngineering
Specifcation NumberEngineering Specifcation
DescriptionMeasure of
PerformancePreferred Direction
Marginal Value
Ideal Value
a.1 Ant Speed ft/s Up 0.66 2a.2 Turning Radius ft Down none 2a.3 Deviation from Straight in/ft Down 2 0a.4 Operation Range ft Up 20 100a.5 Muscle Operating Pressure psi Targeta.6 Muscle Length in Targetb.1 Air Capacity gal Upb.2 Recharge Time mins Downb.3 Minimal Number of Control Inputs # Down 8 2b.4 Air Pressure psi Targetb.5 Unit Power V Targetb.6 Number of Air Lines # Targetb.7 Length of Tether ft Dpwn 20 0c.1 Weight of Unit lb Down 40c.2 Unit Life cycles Up 3000 100000c.3 Number of Body Sections # Target 3 3c.4 Length in Targetc.5 Width in Targetc.6 Height in Targetd.1 Usage Instruction yes/no Target yesd.2 Manufacturing/Mechanical
drawings and instructions yes/no Target yes
Movement
Controls
Body
Documentation
House of Quality
Cus
tom
er W
eigh
ts
Ant
Spe
ed
Turn
ing
Rad
ius
Dev
iatio
n fro
m S
traig
ht
Ope
ratio
n R
ange
Mus
cle
Ope
ratin
g Pr
essu
re
Mus
cle
Leng
th
Air
Cap
acity
Rec
harg
e Ti
me
Min
imal
Num
ber o
f Con
trol I
nput
s
Air
Pres
sure
Uni
t Pow
er
Num
ber o
f Air
Line
s
Leng
th o
f Tet
her
Wei
ght o
f Uni
t
Uni
t Life
Num
ber o
f Sec
tions
Leng
th
Wid
th
Hei
ght
Usa
ge In
struc
tion
Man
ufac
turin
g/M
echa
nica
l dra
win
gs a
nd in
struc
tions
VOC - Affinity Groups CO # VOC - Customer ObjectivesPreferred Direction
Up
Dow
n
Dow
n
Up
Targ
et
Targ
et
Up
Dow
n
Dow
n
Targ
et
Targ
et
Targ
et
Dpw
n
Dow
n
Up
Targ
et
Targ
et
Targ
et
Targ
et
Targ
et
Targ
et
1.1 Capable of forward movement 9 1 3 1 3 3 1 1 3 1 9 3 3 11.2 Capable of backward movement 9 1 3 1 3 3 1 3 3 1 3 1 1 11.3 Use McKibbon Muscles 3 3 3 1 3 3 31.4 Capable of turning 9 9 3 1 3 3 1 9 3 1 1 1 1 12.1 Controlability 3 9 1 1 1 1 1 1 3 1 3 3 3 3 12.2 Self contained air supply 3 9 9 3 9 3 9 9 1 9 12.3 Self contained controls 3 3 3 3 3 9 3 3 3 9 9 12.4 Single tether if needed 3 9 1 3 3 3 9 3 12.5 Rechargability 3 1 9 9 1 9 3 3 3 13.1 Has proper proportion 1 3 9 3 3 33.2 Walks in a motion that is similar to an ant 1 1 1 1 9 3 3 33.3 Looks professional 3 3 9 3 3 34.1 Usage instructions provided 9 14.2 Mechanical Drawings Provided 1 94.3 Re-Uses Materials from previous groups 3 9 9 3 3 3 34.4 Costs Under $350 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 14.5 Control Documentation Provided 1 9
ft/s ft in/ft ft psi in gal mins # psi V # ft lb cycles # in in in yes/no yes/no0.66 none 2 20 0 0 0 0 8 0 0 0 20 40 3000 3 0 0 0 yes yes
2 2 0 100 0 0 0 0 2 0 0 0 0 0 100000 3 0 0 0 0 0
Raw score 19 34 14 24 19 13 26 19 26 74 23 38 66 84 17 0 0 0 0 2 3
Relative Weight 4% 7% 3% 5% 4% 3% 5% 4% 5% 15
%
5% 8% 13%
17%
3% 0% 0% 0% 0% 0% 1%
Aesthetics
Documentation
Movement
Controls
Ideal Value
The mission of the Robo Ant team is to design and build an ant capable of movement via a self-contained air muscle system.
Measure of PerformanceMarginal Value
50.0%
33.3%
0.0%
16.7%
Weighted Engineering Specs Engineering Spec Weight
Weight of Unit 17%Air Pressure 15%
Length of Tether 13%Number of Air Lines 8%
Turning Radius 7%Air Capacity 5%
Minimal Number of Control Inputs 5%Operation Range 5%
Unit Power 5%Ant Speed 4%
Muscle Operating Pressure 4%Recharge Time 4%
Unit Life 3%Deviation from Straight 3%
Muscle Length 3%Manufacturing/Mechanical drawings and instructions 1%
Usage Instruction 0%Number of Sections 0%
Length 0%Width 0%Height 0%
Weight
of Un
itAir
Pres
sure
Leng
th of
Tethe
r
Numbe
r of A
ir Line
sTu
rning
Radiu
sAir
Capa
city
Minim
al Nu
mber o
f Con
trol In
puts
Opera
tion R
ange
Unit P
ower
Ant S
peed
Musc
le Op
eratin
g Pres
sure
Rech
arge T
ime
Unit L
ife
Devia
tion f
rom St
raigh
tMu
scle
Leng
th
Manu
factur
ing/M
echa
nical
drawi
ngs a
nd in
struc
tions
Usag
e Ins
tructi
on
Numbe
r of S
ectio
nsLe
ngth
Width
Heigh
t
0102030405060708090
0%
20%
40%
60%
80%
100%
120%
Pareto of Engineering Specs
Function Decomposition
System Connections
Battery Power Runs Compressor
Compressor Creates
Compressed Air Energy
Compressed Air is
Converted to Motion
McKibben Air Muscles and
CablesMoves Each Leg
Mechanism
Leg Mechanisms (6) Move in Specific
Pattern
LabView Control Panel
Sends a Digital Output
Output Causes A Specific
Change in the Solenoid Valves
Ant Moves
Forward
Walking Logic
Morph Chart
Morph Chart
Overall Design Pugh Chart Concepts
A B C D
Preffered Baseline "Green" Option Tankless Option
Weight Rating Weighted Score Rating Weighted
Score Rating Weighted Score Rating Weighted
ScoreSelf Contained Air Supply yes/no 9.00 1 9 1 9 1 9Self Contained Controls yes/no 3.00 1 3 1 3 1 3Tether yes/no 3.00 1 3 1 3 1 3Ease/Time to Recharge down 3.00 -1 -3 -1 -3 -1 -3Looks Professional yes/no 3.00 1 3 0 0 1 3Re-Uses Available Parts up 9.00 -1 -9 -1 -9 1 9Cost down 9.00 -1 -9 -1 -9 0 0Ant Speed up 3.00 1 3 -1 -3 0 0Run Time up 3.00 0 0 1 3 0 0Air Capacity up 9.00 1 9 1 9 1 9Control Inputs down 1.00 0 0 0 0 0 0Unit Power target 1.00 0 0 -1 -1 0 0Techincal Risk down 9.00 -1 -9 -1 -9 0 0Weight down 3.00 1 3 -1 -3 0 0
(reference)
Selection Criteria
DATUM
Total Score 3.00 0.00 -10.00 33.00Rank 2 3 4 1
Continue? YES - NO YES
Air Supply Pugh ChartA B C D
Weight Rating Weighted Score Rating Weighted
Score Rating Weighted Score Rating Weighted
ScoreEase/Time to Recharge down 3.00 0 0 -1 -3 -1 -3Looks Professional yes/no 3.00 1 3 0 0 -1 -3Re-Uses Available Parts up 9.00 0 0 1 9 0 0Cost down 9.00 0 0 1 9 1 9Run Time up 3.00 0 0 -1 -3 -1 -3Air Capacity up 9.00 0 0 -1 -9 -1 -9Unit Power target 1.00 1 1 1 1 1 1Techincal Risk down 9.00 0 0 0 0 -1 -9Weight down 3.00 1 3 1 3 1 3
Total ScoreRank
Continue?
-14.00
Concepts
(reference)Tankless Compressor Tank Balloon
Selection Criteria
DATUM
7.00 0.00 7.001 3 1 4
YES - YES NO
Power Supply Pugh Chart
Weight Rating Weighted Score Rating Weighted
Score Rating Weighted Score Rating Weighted
Score Rating Weighted Score
Ease/Time to Recharge down 3.00 -1 -3 -1 -3 -1 -3 -1 -3Looks Professional yes/no 3.00 0 0 1 3 1 3 1 3Re-Uses Available Parts up 9.00 0 0 0 0 0 0 0 0Cost down 9.00 0 0 -1 -9 -1 -9 -1 -9Run Time up 3.00 -1 -3 -1 -3 -1 -3 -1 -3Unit Power target 1.00 -1 -1 -1 -1 -1 -1 -1 -1Techincal Risk down 9.00 0 0 0 0 -1 -9 -1 -9Weight down 3.00 -1 -3 0 0 -1 -3 -1 -3
Total ScoreRank
Continue? YES YES - NO NO
-25.002 1 3 4 4
Selection Criteria
DATUM
-10.00 0.00 -13.00 -25.00
(reference)Car Battery Tether RC Battery Solar Fuel Cell
ConceptsA B C D E
RisksRisk Effect Cause Likelyhood Severity Importance Action to MitigateMuscles expansion is l imited by the other components
Required force to control the ants movement is not met.
Internal componenets are packed too close together, not allowing for the muscles to expand.
3 6 18 Make sure the muscles have enough space to expand and move, with limited contact to other components of the ant.
Mismanaged BudgetTeam is handicapped by limited resources. Diverge from initial concept development plans.
Solutions to project where inproperly forecasted from a fiscal standpoint. Are solutions in the realm of realistic funding?
6 9 54 Forecast solutions from a fiscal standpoint. Forecasting should occur at the end of concept development phase.
Leg FunctionalityThe legs are not able to pull the ant forward.
The legs might not be strong enough or have enough friction with the ground to create forward movement.
3 6 18Using a strong material for the legs and possibly placing a rubber mat under each leg to increase the friction between the legs and the ground.
Leg Movement DesignFlexion and Extension of the muscles do not create forward movement. Improper mechanical design of the legs. 3 9 27
The design must be carefully analyzed and tested before commiting to a final decis ion, making sure the designed movement of the legs wil l create forward motion.
Air SupplyNot enough avai lable air wil l prevent the muscles from expanding, and in turn, preventing consistent movement.
The air supply provided cannot keep up with the demand of air that the muscles require. 6 9 54
Double-check required air flow calculations to make sure proper Air Supply is included in the design. Allow for some changes, such as adding an air tank, etc.)
McKibben Air Muscle Structure
Muscles cannot expand fully, causing inconsistent movement with the ant's legs.
Muscles could be poorly assembled, with leaks or tears. 3 9 27
Carefully assemble each McKibben muscle, making sure all connections are tight. Possibly make extra muscles, in case a quick switch needs to occur.
Communication with Logic
The designed logic does not communicate correctly with the ant, creating either none of improper movement.
Careless design of logic or possibly bad connections with the ant. 6 9 54
Make sure all connections, whether wireless or tethered, are properly connected. Double-check all logic, and consistently test to be sure communication is sound.
Poor PresentationUnhappy Customer. Poor representation of RIT.
Team oversight. Materials don't fit within body structure. 3 6 18 Keep the "big picture" in mind when making design decisions.
RisksRisk Effect Cause Likelyhood Severity Importance Action to Mitigate
Power Supply (Assuming self-contained power)
The power supply does not generate enough power to run all necessary compnenets, preventing any movement of the ant.
Not enough power is generated from the on board power supply.
3 9 27 Test different power supllies to be sure one is availabe that can power all required components.
Poor Presentation Unhappy Customer. Poor representation of RIT.Team oversight. Materials don't fit within body structure.
3 6 18 Keep the "big picture" in mind when making design decisions.
Size is Too Cumbersome Difficult/ Impossible to move.Materials/muscles require large scale design. 6 6 36
Size needs to be a concern throughout all facets of design. As the ant increases in size so does its need for extra hardware and this will compound. Keep it small.
Overrunning the TetherDisconnection or breakage of Ant or Computer connection.
Controls allow ant to move further than the tether's reach.
3 3 9Some sort of stop needs to be in the logic so we can stop it from overrunning the tether length if there is a tether.
Running out of Time Project does not get completed.Poor planning. Lack of Time Management. 6 9 54
Everyone needs to hold up their end of the project and meet their deadlines. We also need to plan well as a group.
Group DysfunctionProject does not get completed to required specifications.
Lack of Communication. Differing Ideals. Poor Compromising. Violation of team Values and Norms.
6 6 36Communication is the most important thing for group work. We need to communicate well and create comprimises to overcome conflict.
Poor Cadence Ant can't walk, does not walk in consistent fluid motion.
Poor Control Design. 3 3 9The system controls need to be created well, and also need to be able to be edited so that if there's a problem they can be adjusted easily.
Poor DocumentationDisastisfied Customer. Future groups can't work off of results.
Poor documentation throughout design process. 3 6 18
Documentation needs to be kept current through the process. If we get behind on documentation it will be difficult to catch up. The group needs to keep up with documentation every week.
Long Lead Time Delays in schedule. Poor group planning 3 3 9Any purchase parts need to be planned well before they'd actually be used so delivery time can be accounted for.
Schedule