modular pneu-facade system
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Introduction
Biologically Inspired Design
Smart Bio-Architecture SystemArchitecture
Smart Technologies
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Biologically Inspired Design
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
Biologically Inspired Design
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
Biologically Inspired Design
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.
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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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