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Project Manager: Zachary Novak Mechanical Design Lead: John Chiu Lead Engineer: Seaver Wrisley Controls and Instrumentation Lead: Felix Liu Team P14029: McKibben Muscle Robotic Fish

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AGENDA Project Goal Overall Concept System Breakdown Head & Tail Frame Construction Orientation System Foam Contours and Skin Muscles & Actuation Pressurization & Flow Diagram Electronics & Power Supply Solenoids Preliminary Microcontroller Logic MSDII Test Plan Feasibility Testing BOM & Budget Risk Assessment and MSDII Preliminary Schedule

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PROJECT GOAL Use McKibben muscles to power a robotic fish

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OVERALL CONCEPT Morphological Analysis and Concept Selection resulted in: An untethered fish controlled by a microcontroller (Arduino) with onboard power and fluid pressurization An acrylic box in the head housing the electronics and pump Arduino, water pump, and solenoid valves controlling the flow of water Muscles in the head actuating tail segments via fishing line cord Passive air bladders and weights to control buoyancy, pitch, and possibly roll

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INTERNAL SYSTEM OVERVIEW

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SUBSYSTEMS Frame Head Tail Locomotion System Linkages Muscles Actuation System Pump Solenoids & manifold Plumbing Electrical System Microcontroller Batteries Shields Sensors Orientation System Air Bladders Appearance Foam Skin

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