SLIDE 1
Zachary Novak John Chiu Seaver Wrisley Felix Liu
Team P14029: McKibben Muscle Robotic Fish
SLIDE 2 AGENDA
- Project Background
- Problem Statement
- Market Evaluation
- Customer Requirements
- Engineering/Benchmarking
Specifications
- House of Quality
- System Analysis
- Functional Decomposition
- Morphological Analysis
- Concept Development
- Alternatives Considered
- Pugh Analysis
- Selected Concept
- System Architecture
- Project Planning
- Engineering Analysis Needed
- Risk Assessment
- Test Plan Outline
- Scheduling
SLIDE 3
PROJECT BACKGROUND
SLIDE 4
PROBLEM 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.
SLIDE 5 DELIVERABLES
- A functional prototype which meets all customer
requirements, and that may be used as a platform to be expanded upon by future MSD teams
- Detailed documentation covering project design, testing,
and fabrication
- Appropriate test data ensuring all customer needs are met
- Detailed user manuals for operation and troubleshooting
- Suggestions for future expansion
SLIDE 6 MARKET NICHE
- Government
- NOAA (National Oceanic and Atmospheric Administration)
- Total 2014 Budget: 5.4 Billion
- Survey and Monitoring Projects: 24.8 Million
- Ocean Exploration and Research: 29.1 Million
- Private Fields
- Offshore Drilling Market
- Projected 2018 Value: 121 Billion
- Predicted to spend 640 Billion this year just to find oil
- Case Study: Oceaneering International Inc. (OII)
- 90% of 1.97 Billion revenue from oil & natural gas sector
- Remotely Operated Vehicles (ROV) account for 630 Million
- Underwater tasks: drill support, installation/construction
support, pipeline inspection, surveys and subsea production facility operation and maintenance
SLIDE 7
CUSTOMER REQUIREMENTS
SLIDE 8
CONSTRAINTS
SLIDE 9
ENGINEERING REQUIREMENTS
SLIDE 10
ENGINEERING REQUIREMENTS
SLIDE 11
SYSTEM ANALYSIS
SLIDE 12
FUNCTIONAL DECOMPOSITION
SLIDE 13 MORPHOLOGICAL ANALYSIS (1 OF 2)
Soft ¡Robotic ¡Air ¡Muscle DC ¡Motor Harp ¡Type Manta ¡Ray McKibben ¡Muscle ¡w/ ¡Pulleys McKibben ¡Muscle ¡w/ ¡Linages Body ¡Caudal ¡Fin ¡Motion ¡(Oscillation) Median ¡Paired ¡Fin ¡Motion Syringe ¡Pump DC ¡Pump Eel Body ¡Caudal ¡Fin ¡Motion ¡(Undulation) McKibben ¡Muscle ¡w/ ¡Flexible ¡Membrane
Locomotion ¡ Mechanism Fish ¡Type Locomotion ¡ Type Actuation ¡ Source Actuation ¡ Method
Servos Cams Rack ¡and ¡Pinion Solenoid ¡Valve ¡Block
Turning ¡ Mechanism
Body ¡as ¡Rudder Independed ¡Paired ¡Fin ¡Control Bias ¡Weight ¡and ¡Carve Side-‑Mount ¡Thrusters ¡(Water, ¡Air, ¡Prop, ¡etc.)
SLIDE 14 MORPHOLOGICAL ANALYSIS (2 OF 2)
Communication
Wireless ¡Option ¡w/ ¡Buoy Tethered ¡Option ¡w/ ¡Spooled ¡Cable Wireless ¡Option ¡ CO2 Remote ¡Controlled
Transmit ¡ Commands
Radiowaves Telepathic Onboard ¡Minions
Process ¡ Commands
Arduino ¡Self ¡Controlled Labview ¡w/ ¡User ¡Interface Chemical ¡Reaction
Power ¡Source
Battery Wall ¡Plug Solar Wind Bluetooth Sonar/Voice ¡Commands
Actuation ¡Fluids
Water Air
¡Membrane ¡/ ¡ Skin ¡Materials ¡ and ¡Methods
Paper ¡Mache Plastic ¡Soft ¡Polymer ¡Skin ¡ Fiberglass Cables Screenprinted Stamped ¡Texture ¡(Scales ¡etc.) Painted ¡Features
Body ¡Structure
Mesh ¡Cage Molded ¡Plastic ¡ Formed ¡Metal Cast ¡Iron Fiberglass Universal ¡Joints
SLIDE 15
CONCEPT DEVELOPMENT
SLIDE 16
BEST CURRENT BIOMIMETIC FISH
Due to the innovative nature of this project, there isn’t anything currently on the market to directly compare to. However, University of Essex successfully constructed an excellent biomimetic fish utilizing servomotors in place of air-muscles.
SLIDE 17 OTHER EXISTING SOLUTIONS
- Do we want to have this slide?
- Manta Ray Design
- Concerns about stability
SLIDE 18 ALTERNATIVES CONSIDERED
- Body Styles
- Pressurization Systems
- Communication Interfaces
SLIDE 19
BODY STYLES
SLIDE 20
EEL
Maybe we could just include a picture of this, have john construct an assembly quickly by combining joint sections into a large s-shape from existing model. Then say how this didn’t make it to the Pugh analysis because we decided that more joints would just increase the complexity of the design unnecessarily. Input?
SLIDE 21
MANTA RAY
Brief Description Pros: McKibben muscles can be used quite easily Cons: Uncertainties around maintaining proper orientation.
SLIDE 22
SALMONOID
SLIDE 23
PROPULSION SYSTEMS
SLIDE 24
PADDLE WHEEL
SLIDE 25
SYRINGE PUMP
SLIDE 26
CENTRIFUGAL PUMP
SLIDE 27
COMMUNICATION INTERFACE
Put any tethered versus untethered information here
SLIDE 28 COMBINATIONS CONSIDERED FURTHER
- Manta Ray
- Centrifugal Pump & Tethered
- Salmonoid
- Centrifugal Pump & Tethered
- Syringe Pump & Untethered
SLIDE 29
PUGH ANALYSIS
SLIDE 30
SELECTED CONCEPT
SLIDE 31 SYSTEM ARCHITECTURE
Robotic'Fish Frame Propulsion Body Control' electronics Buoyancy' modulation Frame' members Fasteners Joints Fluid'control' (mechanical) Actuation Solenoid' block? Fluid' pressure' delivery Pump(s) Mounting'to' body/fins Mounting'to' frame McKibben' muscles Attachment' to'frame MicroE controller/' computer Skin' materials Fins Tether? Bladder'or' syringe' bladder Sensors?
Software/' programming
Electricity Motors?
SLIDE 32 ENGINEERING ANALYSIS FLOWCHART (SALMON WITH SOLENOIDS/PUMP)
Pressure& drag?&(likely& negligible) Size&of&fish Fish& motion Torque&required& about&fin&pivot& point&from&muscles Calculated& parameter Input& variable Forces&needed&
Type&of&fish Actuation& length&of& muscle
Lever&arm&
about&fin& hinge&point Force& required&from& McKibben& muscles Pressure&of& fluid Fluids calcs p=F*t Force&required&to&
volume& change Volumetric& flow&rate Pump&sizing Speed Tail& actuation& angles Solenoid& block&sizing Electricity& required& (battery?) McKibben& muscle& diameter Relaxed& length&of& muscle Component& sizing& parameter #&of& McKibben& muscles MicroO controller& sizing #&of&other& sensors
SLIDE 33 ENGINEERING ANALYSIS FLOWCHART (SALMON WITH SYRINGE PUMPS)
Pressure& drag?&(likely& negligible) Size&of&fish Fish& motion
Torque&required& about&fin&pivot& point&from&muscles
Input& variable Forces&needed&
Type&of&fish
Actuation& length&of&
Lever&arm&
Force& required&from& Fluids calcs p=F*t
Force&required&to&
Tail& actuation& angles Relaxed& length&of&
SLIDE 34
RISK ASSESSMENT SCALE
SLIDE 35
RISK ASSESSMENT
SLIDE 36
RISK ASSESSMENT
SLIDE 37
TEST PLAN OUTLINE
John Chiu
SLIDE 38
SCHEDULE
Will do after consulting with Felix about way to do it without using MS Project tomorrow
SLIDE 39 BACKUP SLIDES FOR ANTICIPATED QUESTIONS
Come together as a group to discuss what questions might be asked.
- Feasibility (how do you know if muscles can produce
enough force) need to get some general idea how to convince audience it will work
- What type of skin, should probably at least do some
research on this and see what options are available? (maybe construct a mold and injection mold a hollow 2- piece shell? Then what to do for painting? Maybe just make mold out of blue/green plastic and that will be enough?
