1. Team P14029 McKibben Muscle Robotic Fish Week 3 Review Zak Novak John Chiu SeaverWrisleyFelix Liu

2. agenda • Project statement • Team members and roles • Norms and values • Stakeholders • Customer needs and constraints • Engineering requirements • Background information • Deliverables • Timeline

3. Project Statement • This project is designed to prove the feasibility of McKibben muscles for use in underwater robotic applications, and to develop core technology and a platform for other teams to use in the future. • The project specifically seeks to develop a soft-bodied pneumatic fish that looks, moves, and feels like a fish. The robotic fish should be capable of swimming forward, backward, and turning, most likely using Body Caudal Fin propulsion, and the primary mechanism for generating the swimming motion must be McKibben muscles.

4. Team roles

5. Norms & values • Expectations – do MSD first • Roles in the form of leads over specific areas based on team members individual strengths • Action items assigned at weekly team meetings • Decisions by consensus • Frequent updates and communication with Faculty Guide • Continual improvement

6. stakeholders • Primary customer • Dr. Kathleen Lamkin-Kennard • Secondary customers • Future MSD teams • RIT • Underwater researchers • Others interested in underwater exploration

7. Customer needs and constraints

8. Engineering requirements

9. What is a McKibben muscle? • Fluid actuated muscle • Can use water, air, etc. • Internal pressure causes radial expansion and axial compression • Nonlinear, but repeatable [1]

10. How a McKibben muscle works Weaved Sleeve Air hose Pneumatic Bladder End Caps

11. How a McKibben muscle works Pressurized Air [2]

12. Findings from Previous air muscle projects • Actuation speeds, force vs. deflection characterization data • Can be used underwater • Options for working fluids • Coordination of multiple muscles [3-6]

13. Background – Fish locomotion [3-6]

14. Background – Fish locomotion Median and/or Paired Fin (MPF) Body and/or Caudal Fin (BCF) Undulation: >1 wave on fin Undulation Oscillation [8] Oscillation: <1/2 wave [7]

15. Background – Robotic Fish Research [9] [10] [12] [11]

16. Timeline

17. deliverables • A working prototype for under $500 • Moves like a fish • Goes forward • Goes backwards • Turns • Looks like a fish • Feels like a fish • Bill of materials • Documentation of all analyses • Detailed operator’s manual • Supporting test data

18. Questions?

19. References • [1] Laboratory, S. I., 2013, Development of High Hydraulic Pressure Mckibben Artificial Muscle and Its Application to Light Spreader, 8/6/13, http://www.act.sys.okayama-u.ac.jp/kouseigaku/research/2009/system/spreader/reseach_e.html • [2] http://en.wikipedia.org/wiki/File:Sam_animation-real-muscle.gif • [3] P08024, R. M. T., 2007, Air Muscle Artificial Limb Design, http://edge.rit.edu/content/P08024/public/Home • [4] P12029, Biomimetic Robo Ant, 2012, http://edge.rit.edu/content/P12029/public/Home • [5] P11029, Biomimetic Crab, 2011, http://edge.rit.edu/content/P11029/public/Home • [6] P13029, Robotic Tiger, 2013, http://edge.rit.edu/edge/P13029/public/Home/ • [7] http://esi.stanford.edu/exercise/exercise4.htm • [8] Kuntz, 2010, http://www.youtube.com/watch?v=2aOh4ad0Li8 • [9] Ye, A centimeter-scale autonomous robotic fish actuated by IPMC actuator, 2007, http://ieeexplore.ieee.org/xpl/articleDetails.jsp?reload=true&tp=&arnumber=4522171&queryText%3Drobotic+fish • [10] Liu, Novel mechatronics design for a robotic fish, 2005, http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=1545283&queryText%3Drobotic+fish • [11] Liu, Essex Robotic Fish, 2006, http://cswww.essex.ac.uk/staff/hhu/jliua/ • [12] Xu, Mimicry of fish swimming patterns in a robotic fish, 2012, http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6237273&queryText%3Drobotic+fish

20. TL;DR Robotic Fish + =