MSD: Underwater McKibben Muscle Manipulator [P14253] Problem DefiniEon Review. September 20, 2013 Rochester InsEtute of Technology 1

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1 MSD: Underwater McKibben Muscle Manipulator [P14253] Problem DefiniEon Review September 20, 2013 Rochester InsEtute of Technology 1

2 Agenda Introduce Team Project Background Problem Statement and Project Goals Stakeholders Use Scenarios Customer Requirements Engineering Requirements Preliminary Project Plan September 20, 2013 Rochester InsEtute of Technology 2

3 Team IntroducEon & Roles Team Member Will Fickenscher Erika Mason Jared Warren Joe Taddeo Chris Jasinski Role Project Manager Electrical Engineer Mechanical Engineer Mechanical Engineer Mechanical Engineer September 20, 2013 Rochester InsEtute of Technology 3

Project Background Boeing approached RIT to strengthen their relaeonship Boeing is interested in funding research to: Develop innovaeve technologies Improve current Unmanned Underwater Vehicle (UUV)

4 Project Background Boeing approached RIT to strengthen their relaeonship Boeing is interested in funding research to: Develop innovaeve technologies Improve current Unmanned Underwater Vehicle (UUV) systems Boeing s interest in RIT: McKibben Muscle RoboEc Manipulators currently being researched and developed P08024: Air Muscle ArEficial Limb #2 September 20, 2013 Rochester InsEtute of Technology 4

which use hydraulically actuated pincher- style arms Environmental risks

5 Problem Statement Current State Boeing does not offer a roboec manipulator on its UUV (Unmanned Underwater Vehicle) CompeEtors offer manipulators which use hydraulically actuated pincher- style arms Environmental risks Low dexterity Echo Ranger September 20, 2013 Rochester InsEtute of Technology 5

Current Product- Krab TeleroboEcs- Raptor Part

feedback Gripper Can operate at depths more than

freedom PotenEal to leak hydraulic fluid into

Max Krab Raptor Arm Deep sea exploraeon sub with

6 Current Product- Krab TeleroboEcs- Raptor Part electric/part hydraulic JoysEck controlled with feedback Gripper Can operate at depths more than 7 miles under the ocean surface Has 6 degrees of freedom PotenEal to leak hydraulic fluid into environment Libs 500lb. Max Krab Raptor Arm Deep sea exploraeon sub with a Krab TeleroboEcs arm September 20, 2013 Rochester InsEtute of Technology 6

Problem Statement Desired State Highly dexterous anthropomorphic roboec

underwater McKibben Muscle Manipulator prototype UElize surrounding water

engineering standards and ITAR regulaeons Use McKibben Muscle technology

7 Problem Statement Desired State Highly dexterous anthropomorphic roboec manipulator that operates at depth Project Goals Produce a funceonal underwater McKibben Muscle Manipulator prototype UElize surrounding water as the actuaeon medium (eco- friendly) Constraints Adhere to Boeing engineering standards and ITAR regulaeons Use McKibben Muscle technology Festo Airic s Arm Shadow RoboEcs September 20, 2013 Rochester InsEtute of Technology 7

power- to- weight raeo Low cost Compliant Smooth aceon

8 What is a McKibben Muscle Flexible hosing that expands under pressure Advantages over Hydraulics: Lightweight Greater power- to- weight raeo Low cost Compliant Smooth aceon McKibben Muscle September 20, 2013 Rochester InsEtute of Technology 8

AddiEonal Project Goals Appropriate design,

documentaeon to be passed on to future MSD

akach manipulator to UUVs or Exosuits An

Control Xbox Controller Nuytco Research Ltd.

9 AddiEonal Project Goals Appropriate design, development, and lessons- learned documentaeon to be passed on to future MSD teams Suitable mechanical interface to akach manipulator to UUVs or Exosuits An intuieve user- control interface Krab User- Control Xbox Controller Nuytco Research Ltd. Exosuit September 20, 2013 Rochester InsEtute of Technology 9

10 Stakeholders September 20, 2013 Rochester InsEtute of Technology 10

11 Use Scenarios Considered Underwater Research LocaEng and uncovering arefacts Beker use of tools Tools will not have to be reengineered to be used for a gripper/clamp manipulator Fixing mechanical issues Having a hand readily available will make repairing underwater oil rigging systems much simpler and safer September 20, 2013 Rochester InsEtute of Technology 11

12 Customer Requirements Customer Rqmt. # Importance Category Description CR1 3 Innovation Bring new ideas to the industry CR2 9 Offer customers added functionality CR3 9 Dextrous hand CR4 9 Mechanics Lift objects of various weights CR5 9 Resembles a full size arm and hand (anthropomorphic) CR6 9 Waterproof CR7 3 Underwater Performance Corrosion-resistant CR8 3 Operate at high pressure CR9 1 Ease of Use Intuitive for user CR10 9 Quick feedback of user commands CR11 3 Reliable CR12 1 Easy to Maintain Easy to repair CR13 3 Durable/rugged CR14 9 Environmentally safe CR15 9 Safety Safe for user CR16 9 Component failure isn't detrimental to vehicle CR17 3 Cost Fits within budget/grant CR18 1 Compatibility Interface easily with ROV or an exosuit September 20, 2013 Rochester InsEtute of Technology 12

Engineering Requirements rqmt. # Importance Source Function Engr.

Up ER4 9 CR3 Hold various shapes Binary - ER5 3 CR4 Lifting Capacity N Up ER6 3 CR5 Extension Range m Target ER7 3 CR5 Shoulder Azimuth degrees Up ER8 3 CR5 Arm Opera1on Shoulder Elevation degrees Up

Scale Down ER14 3 CR9 New user able to quickly and effectively operate arm ER15 3 CR9 Intuitive Operation Sensitivity deg/deg, lb/lb Target ER16 9 CR10 Delay ms Down ER17 1 CR10 Transmit Rate kbps Up

13 Engineering Requirements rqmt. # Importance Source Function Engr. Requirement (metric) Unit of Measure Preferred Direction ER1 9 CR1, CR2 Innovative Ideas Use McKibben Muscles Binary - ER2 3 CR4 Min Gripping Force N Down ER3 3 CR4 Hand Opera1on Max Gripping Force N Up ER4 9 CR3 Hold various shapes Binary - ER5 3 CR4 Lifting Capacity N Up ER6 3 CR5 Extension Range m Target ER7 3 CR5 Shoulder Azimuth degrees Up ER8 3 CR5 Arm Opera1on Shoulder Elevation degrees Up ER9 3 CR5 Elbow Pivot degrees Up ER10 9 CR5 Wrist Pitch degrees Up ER11 9 CR5 Wrist Roll degrees Up ER12 9 CR6, CR8 Sytem functions at depth m Up Underwater Opera1on ER13 1 CR7 % Corrosion on system Scale Down ER14 3 CR9 New user able to quickly and effectively operate arm ER15 3 CR9 Intuitive Operation Sensitivity deg/deg, lb/lb Target ER16 9 CR10 Delay ms Down ER17 1 CR10 Transmit Rate kbps Up ER18 3 CR11 Work Cycles N Up ER19 1 CR12 Reliability Max time for repair min Down ER20 3 CR13 Continue to function after drop test Binary - ER21 9 CR14 Release any harzardous fluids/materials Binary - ER22 9 CR15 Safe Operation Safe practices for operation are expressed to operator before use Binary - ER23 3 CR17 Budget Cost $ Down Scale Up September 20, 2013 Rochester InsEtute of Technology 13

14 Preliminary Schedule *Project DefiniEon Review Revise & Rework Funct Decomp System Design Benchmark important tech Engineering Analysis Concept GeneraEon Create Pres. For SDR *SDR Revise & Rework Subsystem Design September 20, 2013 Rochester InsEtute of Technology 14

15 QuesEons, Comments, or Concerns? September 20, 2013 Rochester InsEtute of Technology 15

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