Transcript Stiquito
E^3 PROJECT Moses Z. Horton & Ali Jafry Stiquito – An Introduction to Robotics Robotics ► 1. 2. 3. The term was conjured by Isaac Asimov in 1942. He also came up with the three laws of Robotics. A robot may not injure a human being,or through inaction,allow a human being to come to harm. A robot must obey the orders given it by human beings except where such orders would conflict with the First Laws. A robot must protect its own existence as long as long as such protection does not conflict with the first and second law. Different types of Robots ► The classical robot seen in science fiction – walking, talking, humanoid devices. ► The industrial arm robot – used in manufacturing. They carry out repetitive and sometimes dangerous tasks. ► Also in industry is the Autonomous wheeled vehicle – they are used for surveillance, or to deliver goods, mail,or other suplies. Materials ► These robots do not take on a biological means of propulsion – that is contracting and relaxing of muscle fiber bundles. These robots use pneumatic air or motors. A new material called Nitinol is used to emulate the operations of a muscle. It does it since it has the property to contract when heated ► and return to origin size when cooled Manufacturing the Stiquito The stiquito was manufactured by Dr. Jonathan Mills in1990. ► For propulsion, he selected nitinol, since it provides a muscle like reaction for his circuitry and it mimics boiological actions. ► To counter the nitinol he used music wire – this wire would help to stretch the nitinol back to its original shape and provide support. ► The body of the robot is a 1/8-inch plastic rod with heat resistant properties. ► For leg support, body support,and attachment of nitinol to plastic he chose aluminum tubing. ► Manufacturing Continued ► Dr. Mills designed various robots, such as a tiny four-legged robot 2-ins. Long, a floppy six-legged 4-ins. Long robot. etc. He found that he got the best movement from the robot when the nitinol was parallel to the ground, and the part touching the ground was perpendicular to it. BACKGROUND ► Immediatley preceding Stiquito was Sticky, a six-legged Robot. It was 9ins,long,5ins.wide and 3ins.high. It contains nitinol wires inside aluminum tubes ( tubes were for support). Sticky can take 1.5 cm steps and each leg had two degrees of freedom. Two degrees of freedom means that nitinol wire is used to pull the legs back (first degree) and raise the legs (second degree) BACKGROUND (CONT) ► Sticky was very expensive, and Dr. Mills used the idea to create Stiquito(little sticky). He started with only one degree of freedom – but due to the low cost, he made Stiquito 2 with two degrees of freedom. One degree of freedom was for movement, and the other was for raising the legs.