131021 design progress2

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MEDIATED MATTER 2013-2014

DESIGN RESEACH 131021:

ARTICULATED ARMS IN NATURE

MOTION DIAGRAMS

MATERIAL SYSTEMSTABLE OF THE ELEMENTS


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ARTICULATED ARMS IN NATURE

CASE STUDIES OF ARTICULATED ARMS ACROSS BIOLOGICAL SCALES

RELATIONSHIP BETWEEN GEOMETRY, MATERIAL AND MOTION


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Comparative Analysis |Articulated arms across a range of organisms

Environments physically evolving organisms

-Homologous relationship of forearm structures among eight groups of vertebrate animals (1909 book by William Leche)

-124 bat, 125 whale, 126 mole, 127, human, 120 salamander, 121 turtle, 122 crocodile, 123 bird , 120 Salamander, 123 Bird Wing

-O: humerus, A: radius, S: ulna, H: carpals, M: metacarpals, F: phalanges


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Articulated Arms | Web Spinners

Arms: weave, wrap, skin

-Webspinners (located in Trinidad) produce their silk from their forelegs, which have about 150 tiny silk ejectors

-The ejectors create a think silky tissue, which forms a waterproof membrane

-The end structure is so watertight that the spider underneath is in danger of not gett ing enough water

-Webspinners produce a limitless supply of silk in their legs


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Articulated Arms | Wolf Spider

Arms: sense, extrude, wrap, skin - membranes and webs

-Wolf Spiders weave intricate protection pillows for their eggs

-Each hair contains a nerve which can detect minute quantities of female pheromone

-The female spider weaves fuzzy silk (soft padding), then expels a drop of liquid in which eggs are injected

-Once the drop is dry, she adds more fuzzy silk to protect it, then lays a tougher silk to protect the capsule

-She cuts the membrane lose, rolls the it into a pillow, then covers it with a waterproof silken wrapping


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Articulated Arms | Gladiator Ogre Spider

Arms: extrude, weave, capture, wrap

-Gladiator Spider, Ogre faced spider, Net casting spider, is found in the eastern Australian forests

-The spider lays-up a frame (fuzzy glue-less dry silk) net through a multi-arms process

-An additional layer is woven on top of the frame which is made up of a elastic and sticky silk

-The Ogre spider calibrates its distance to the ground, then propels the net onto its prey


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Articulated Arms | Orb Web Spider

Arms: sense, weave, lay-up, form, wrap

-Webs can contain up to sixty meters of silk, with over 3000 different intersection attachments

-Orb Spiders can complete their web in about an hour t ime-frame

-The web has embedded tension mechanisms at the intersection drops, which upon impact prevents the web from breaking

-The spiders leg joints has microscopic sensing slits which react to fine movements in the webs

-Multiple silks are extruded for different web and capture functions


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Articulated Arms | Bolas Spider

Arms: deposit, swing, wind, capture, wrap

-Bolas spiders capture their prey by slinging a glue / silk bead (2.5mm diameter) at the end of a silk line

-The spider releases pheromones which attract the prey close

-Once the prey is caught the spider wraps the prey in silk


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Articulated Arms | Manta Shrimp Smasher

Arm: lock, propel, strike, smash

-The strike of a Manta Shrimp Is one of the fastest limb movements in the animal kingdom (Patek)

-Punch speeds reach 50mph in 3millisecond, a strike comparable to a small caliber bullet

-Saddle shape part of the exoskeleton that acts like a spring

-They use the saddle spring to store energy with a latch mechanism to amplify the strike

-Cavitation (vapor cavities in liquid) is caused from the strike

-Water pressure lowers causing it to boil, small bubbles collapse unleashing high energy


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Articulated Arms | Manta Shrimp Spearer

Arms: lock, propel, strike

-Extendable arms are barbed, and can fire out in a blink of the eye

-Punch speeds reach 50mph in 3millisecond, a strike comparable to a small caliber bullet

-Saddle shape part of the exoskeleton that acts like a spring

-They use the saddle spring to store energy with a latch mechanism to amplify the strike

-Eyes have 16 different photoreceptor pigments and can see polarized light while moving and scanning independently


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Articulated Arms | Preying Mantis

Arms: lock, strike, clean

-Raptorial legs strike to capture prey (birds, lizards, turtles, insects)

-Arms contain rows of sharp spikes, and release faster than a blink of an eye

-STM evolutionary gift of camouflage to adapt and blend in with rocks and soil


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Articulated Arms |Ant Antennae

Arms: construct, communicate, allocate / transform

-Complex task allocations shifts (forager, nest maintenance worker, patroller)

-Layer of grease, hydro-carbons become different as ants perform different tasks

-Tests dropping glass beads with hydro carbons influencing the ants

-Patterns of interactions, pattern is the message

-Embedded rule systems: I expect to meet another forager every three seconds -- rules change as the colony grows


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Articulated Arms | Caddisfly

Arms: extrude, secrete, create, construct

-The larvae of many species use silk to make protective cases of gravel, sand, twigs or other debris.

-Most Caddisfly larvae are underwater architects and use silk, excreted from salivary glands near their mouths, for building.

-Net-making caddisflies usually live in running water, and their nets, serve both as a means to collect algae and as retreats.

-Metamorphosis: egg, larvae, pupa, adult stages


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Articulated Arms | Scorpions

Arms: pinch, traverse, grab, sting

-Scorpions have existed since the time of the dinosaurs and are located on almost every content

-They contain four pairs of legs for walking, a pair of pinchers for grabbing and holding prey, and a stinger to poison its prey

-Nocturnal animals, which wait for their prey

-UV light that hits the creatures gets converted by proteins in their exoskeletons into a light of blue hue


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Articulated Arms | Sea Spider (Pycnogonida)

Arms: traverse, stride, eating

-Anatomy: A: head; B: thorax; C: abdomen,1: proboscis; 2: chelifores; 3: palps; 4: ovigers; 5: egg sacs; 6a6d: four pairs of legs

-Because of their small size and thin body and legs, no respiratory system is necessary, with gases moving by diffusion

-The organs extend throughout many appendages because its body is too small to accommodate all of them alone


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Articulated Arms | Centipede and Millipedes

Arms: grip, traverse, sting

-Centipedes contain one pair of legs per body segment ranging from 20 to 300

-Each leg has a high capacity to grid onto surfaces

-Pinchers located at the mouth can contain pinchers with venom, paralyzing prey


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MOTION DIAGRAMS

CREATING A LINK BETWEEN MOTION AND FORM

MAPPING THE DOF OF LARGE AND SMALL ARMS


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Motion Diagrams | Precedents

Inspiration

-Leonardo da Vinci Vitruvian Man

-Le Corbusier Modulor


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Motion Diagrams | Front DOF V1

Multi-motion ranges

RobotA1 +/-170

A2 +45to -190

A3 +165to -119

A4 +/-190

A5 +/-120

A6 +/-358

Picker

Platform 360

Lower Boom 0to 125

Upper Boom 0to 205


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Multi-motion ranges

RobotA1 +/-170

A2 +45to -190

A3 +165to -119

A4 +/-190

A5 +/-120

A6 +/-358

Picker

Platform 360

Lower Boom 0to 125

Upper Boom 0to 205


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Motion Diagrams | Extents Constraints

Composite Working Spheres

RobotA1 +/-170

A2 +45to -190

A3 +165to -119

A4 +/-190

A5 +/-120

A6 +/-358

Picker

Platform 360

Lower Boom 0to 125

Upper Boom 0to 205


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Motion Diagrams |Angular Constraints

Motion Ranges

-Visualizing the large arm and small arm range of motions


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Multi-motion ranges

RobotA1 +/-170

A2 +45to -190

A3 +165to -119

A4 +/-190

A5 +/-120

A6 +/-358

Picker

Platform 360

Lower Boom 0to 125

Upper Boom 0to 205


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Multi-motion ranges

RobotA1 +/-170

A2 +45to -190

A3 +165to -119

A4 +/-190

A5 +/-120

A6 +/-358

Picker

Platform 360

Lower Boom 0to 125

Upper Boom 0to 205


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Motion Diagrams | Extents Constraints

Composite Working Spheres

RobotA1 +/-170

A2 +45to -190

A3 +165to -119

A4 +/-190

A5 +/-120

A6 +/-358

Picker

Platform 360

Lower Boom 0to 125

Upper Boom 0to 205


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Motion Diagrams |Angular Constraints

Motion Ranges

-Visualizing the large arm and small arm range of motions


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MATERIAL SYSTEMS

A CATALOG OF CHOREOGRAPHIC MATERIALS SYSTEMS


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Material Systems| Table of the Elements

Arms as wrapping

Materials

-Engineering thermoplastics

-Concrete, fiber-reinforced plastics / epoxies,etc

-Polyamide(nylon) and PBT-based materials (reinforced with glass or carbon fiber)

-Reinforced PET materials derived from recycled PET soda and water bottles

-Filament - spools, threads

-Tape - uv curable, prepreg, ect.

-Chopped-fiber (spray, cast, pour, form)

-Fabric sheets, rolls

-Formed boards

-Expandable foam

-Organic resins, sugar based, plant resins, ect

-Cements, fiber-cements

-Epoxies, polyester, phenolic, urethane

Material Processes

-Infusion

-Wet lay-up

-Fiber lay-upfeeding out curing carbon networks

-UV curing

-Pre-pregs

-Vacuum bagging

-Spraying - controlling material distribution and densities

-Ultrasim integrative design / analysis technology - unique fiber-orientation

-Alternatives to traditional injection molding processes, continuous fiber composites (glass and carbon)


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Ashby chart 01 | Material Mapping


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A hb h 04 | M i l M i


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BIBLIOGRAPHY

Gould, James L & Carol. Animal Architects: Building and the Evolution of Intelligence. Additional

information. New York, NY: Basic Books, 2007.

Author's last name, first name. Book title. Additional information. City of publication: Publishing

company, publication date.

Author's last name, first name (if available). "Title of work within a project or database." Title of site,

project, or database. Editor (if available). Electronic publication information (Date of publication or of

the latest update, and name of any sponsoring institution or organization). Date of access and .

131021 design progress2

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