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

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Dpw

n

Dow

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et

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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