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Biomimetric Crab

Biomimetric Crab. Bill Dwyer Joe Mead Shaynae Moore Casey O’Connell. WEEK 3. BRAINSTORMING: Project known's (update). Pinching motion needs to be quicker than flexion and extension motion. We are modeling the Blue Crab Pneumatically powered 3 muscles per claw Running of RIT house air

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Biomimetric Crab

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  1. Biomimetric Crab Bill Dwyer Joe Mead Shaynae Moore Casey O’Connell WEEK 3

  2. BRAINSTORMING: Project known's (update) • Pinching motion needs to be quicker than flexion and extension motion. • We are modeling the Blue Crab • Pneumatically powered • 3 muscles per claw • Running of RIT house air • Design for 40 psi (60 psi upper limit.) • Aquarium will be provided and sized according to our size requirements. • Low risk for exploding surgical tubing. • High cyclical repeatability • Governing equations for McKibben muscles.

  3. BRAINSTORMING: Project Unknowns (Update) • What materials will the crab be made out of? • How will the crab be encased? • Will our device move through locomotion? • What will the length of our muscles be? • How will the crab be designed so it will remain flush on the aquarium floor • Will there be a cabin that will house the muscles or will they be located on the underbelly of our device? • How will the range of motion intervals be incorporated • Example (antagonistic muscle pairs?) • Blue Crab Species information and movement. • How rigid/buoyant will the umbilical chord become after pressurizing.

  4. Engineering Specifications(See Spread Sheet)

  5. Project Risks(See Spread Sheet)

  6. Concept Development • Preliminary Biomimetic Crab design • Pincher • Claw • Wrist • NOTE: • This is underside of assembly to hide Mechanics. • The Left and right assemblies are mirror copies. • Both assemblies will function simultaneously and individually.

  7. Concept Development • The spring creates force required to open the pincher and keep it in the rest phase. • The McKibben muscles creates the force required to close pincher

  8. Concept Development • The Pincher control line passes directly over the wrist joint to minimize deflection in wrist articulation • The spring provides force that keeps wrist at neutral or zero angle of rotation • The wrist is operated by two McKibben muscles to create positive and negative rotation

  9. Concept Development • Frame or Platform Design • Simply flat plate design for easy mount of; • Arm Assemblies • Legs Assemblies • McKibben muscles • Aesthetic cover plates

  10. Concept Development • Aesthetic Covering • Cast fiberglass, foam or gel pieces • Rubber “suit” the frame fit inside • Worst case paint entire Crab

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