Transcript Poster Publication (SD II)

BACKGROUND
PROJECT REQUIREMENTS
In previous years, Dr. Lamkin-Kennard
has sponsored Senior Design projects
that utilize pneumatic air muscles to
model hands and other human joints.
The biomimetic crab builds on this
research to showcase the underwater
capabilities of pneumatically actuated
muscles.
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DESIGN FEATURES
Device gives the overall impression of a crab
• Pneumatic power source encapsulated by
Device must function underwater
single connection
Device must use pneumatic air muscles
• Opposable muscles for full range of motion
Pinchers perform and mimic a crab’s pinching
• Independent muscle control
movement
• Self stabilizing spring
Functionality of the device must be enabled through • Concealed pneumatic actuators
a control system
• Quiet analog muscle movement
Single, unified umbilical cord attachment
• Customized controls with Labview GUI
Must have thorough documentation
Pinching must be faster than wrist flex
Claws must operate independently
AIR MUSCLE DESIGN
CONTROL LOGIC
FINAL PRODUCT
These are simply assemblies of
two plastic stoppers, nylon mesh
and thin walled Silicone tubing.
Air pressure is applied and the
muscle contracts.
From user input, the program links
with the electronic relay, which
then controls the pneumatic
solenoids that manipulate the crab.
DESIGN ANALYSIS
LABVIEW INTERFACE
RESULTS
A stress test was performed in
SolidWorks on the acrylic
umbilical cord mount. It shows
that the max stresses are well
below yield strength when the air
lines were fully pressurized.
PROTOTYPE
The biomimetic crab met the fit and function of all customer
requirements. After a successful build and testing phase the
crab behaves as we designed. Expectations were exceeded in
muscle actuation, underwater performance, control dynamics
and operational noise.
FUTURE GOALS
The biomimetic crab may be a platform for future senior design
projects to build on. Expansions on this project could include
making a self contained biomimetic device with a built in air source.
Such a device would allow for locomotion.
A prototype was developed to
prove the claw’s mechanical
design.
User friendly LabView front
panel allows any user to control
the crab. The logic behind the
front panel prevents certain
functions that can damage the
system.
CONTROL UNIT
The integrated control unit
houses all control hardware to
minimize exposure to the
environment while protecting the
system integrity.
THE TEAM
ACKNOWLEDGEMENTS
Joe Mead (ME), Casey O'Connell (ME),
Shaynae Moore (ME), Bill Dwyer (ME)
We would like to give special thanks to:
Dr. Lamkin-Kennard, Bill Nowak, Professor John Wellin, John Bonzo and the
RIT Brinkman Lab, Chris Fisher and the MSD program, Dr. Kempski, Sylvan
Hemmingway, Yateen Shembade, and Fine Line Prototyping. Through your
donation and time we were able to successfully complete our project.