P14253: Underwater McKibben Manipulator 2013-2014 P14253: Underwater McKibben Manipulator Chris Jasinski ME | Will Fickenscher ME | Jared Warren ME | Joe Taddeo ME | Erika Mason EE Project Customer/Sponsor: Boeing Project Guides: Kathleen Lamkin-Kennard & Rick Lux Project Goal: Design, build, and test a fully functional robotic arm for Boeing using McKibben Muscle technology that can be used in underwater environments. This project is aimed at creating a more dexterous and eco-friendly manipulator that can be used with Unmanned Underwater Vehicles (UUVs). Background: Boeing has teamed up with RIT to research and develop technical solutions to improve its UUV, the Echo Ranger. RIT was challenged to design and build a robotic manipulator that mimicked the human body, offering a high level of dexterity and control, while minimizing the potential environmental impact when used at subsea depths. Specs: 21 McKibben Muscles 15 controlled DOF 2 manual DOF 2 Pumps Hand Design: Forearm Design: Arm Design: Shoulder Rotation 13 Muscles Elbow Rotation 4 Fingers 9 Springs Forearm Rotation 4 Joints/Finger 1 Thumb 2 DOF Wrist 2 DOF Wrist Muscle Guide Plates Muscle Guide Plates Cable Tensioners Muscle Operation: Contracted 8 Muscles Final Assembly: Torso Rotation Relaxed Valve Operation: Actuated Rest Hand Control: 9 Flex Sensors Exhaust Exhaust Cable Connector Muscle Muscle Supply Supply 3-Way / 2-Position Muscle A Muscle B Supply Exhaust Exhaust 5-Way / 3-Position A very special thanks to Boeing, Kathleen Lamkin-Kennard, Rick Lux, Rob Kraynik, Jan Maneti, and the RIT ME machine shop staff for without their generous support this project would not have been possible.