MSD: Underwater McKibben Muscle Manipulator [P14253] Problem Definition Review September 18, 2018 Rochester Institute of Technology

Rochester Institute of Technology Agenda Introduce Team Project Background Problem Statement and Project Goals Stakeholders Use Scenarios Customer Requirements Engineering Requirements Preliminary Project Plan September 18, 2018 Rochester Institute of Technology

Team Introduction & Roles Team Member Role Will Fickenscher Project Manager Erika Mason Electrical Engineer Jared Warren Mechanical Engineer Joe Taddeo Chris Jasinski September 18, 2018 Rochester Institute of Technology

Rochester Institute of Technology Project Background Boeing approached RIT to strengthen their relationship Boeing is interested in funding research to: Develop innovative technologies Improve current Unmanned Underwater Vehicle (UUV) systems Boeing’s interest in RIT: McKibben Muscle Robotic Manipulators currently being researched and developed P08024: Air Muscle Artificial Limb #2 September 18, 2018 Rochester Institute of Technology

Rochester Institute of Technology Problem Statement Current State Boeing does not offer a robotic manipulator on its UUV (Unmanned Underwater Vehicle) Competitors offer manipulators which use hydraulically actuated pincher-style arms Environmental risks Low dexterity Echo Ranger September 18, 2018 Rochester Institute of Technology

Current Product- Kraft Telerobotics-Raptor Part electric/part hydraulic Joystick controlled with feedback Gripper Can operate at depths more than 7 miles under the ocean surface Has 6 degrees of freedom Potential to leak hydraulic fluid into environment Lifts 500lb. Max Deep sea exploration sub with a Kraft Telerobotics arm Kraft Raptor Arm September 18, 2018 Rochester Institute of Technology

Rochester Institute of Technology Problem Statement Desired State Highly dexterous anthropomorphic robotic manipulator that operates at depth Project Goals Produce a functional underwater McKibben Muscle Manipulator prototype Utilize surrounding water as the actuation medium (eco-friendly) Constraints Adhere to Boeing engineering standards and ITAR regulations Use McKibben Muscle technology Festo Airic’s Arm Shadow Robotics September 18, 2018 Rochester Institute of Technology

What is a McKibben Muscle Flexible hosing that expands under pressure Advantages over Hydraulics: Lightweight Greater power-to-weight ratio Low cost Compliant Smooth action McKibben Muscle September 18, 2018 Rochester Institute of Technology

Additional Project Goals Appropriate design, development, and lessons-learned documentation to be passed on to future MSD teams Suitable mechanical interface to attach manipulator to UUVs or Exosuits An intuitive user-control interface Xbox Controller Nuytco Research Ltd. Exosuit Kraft User-Control September 18, 2018 Rochester Institute of Technology

Rochester Institute of Technology Stakeholders September 18, 2018 Rochester Institute of Technology

Use Scenarios Considered Underwater Research Locating and uncovering artifacts Better 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 18, 2018 Rochester Institute of Technology

Customer Requirements Customer Rqmt. # Importance Category Description CR1 3 Innovation Bring new ideas to the industry CR2 9 Offer customers added functionality CR3 Mechanics Dextrous hand CR4 Lift objects of various weights CR5 Resembles a full size arm and hand (anthropomorphic) CR6 Underwater Performance Waterproof CR7 Corrosion-resistant CR8 Operate at high pressure CR9 1 Ease of Use Intuitive for user CR10 Quick feedback of user commands CR11 Easy to Maintain Reliable CR12 Easy to repair CR13 Durable/rugged CR14 Safety Environmentally safe CR15 Safe for user CR16 Component failure isn't detrimental to vehicle CR17 Cost Fits within budget/grant CR18 Compatibility Interface easily with ROV or an exosuit September 18, 2018 Rochester Institute of Technology

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 Hand Operation Min Gripping Force N Down ER3 Max Gripping Force Up ER4 CR3 Hold various shapes ER5 Arm Operation Lifting Capacity ER6 CR5 Extension Range m Target ER7 Shoulder Azimuth degrees ER8 Shoulder Elevation ER9 Elbow Pivot ER10 Wrist Pitch ER11 Wrist Roll ER12 CR6, CR8 Underwater Operation Sytem functions at depth ER13 1 CR7 % Corrosion on system Scale ER14 CR9 Intuitive Operation New user able to quickly and effectively operate arm ER15 Sensitivity deg/deg, lb/lb… ER16 CR10 Delay ms ER17 Transmit Rate kbps ER18 CR11 Reliability Work Cycles ER19 CR12 Max time for repair min ER20 CR13 Continue to function after drop test ER21 CR14 Safe Operation Release any harzardous fluids/materials ER22 CR15 Safe practices for operation are expressed to operator before use ER23 CR17 Budget Cost $ September 18, 2018 Rochester Institute of Technology

Rochester Institute of Technology Preliminary Schedule *Project Definition Review Revise & Rework System Design Funct Decomp Benchmark important tech Engineering Analysis Concept Generation Create Pres. For SDR *SDR Revise & Rework Subsystem Design September 18, 2018 Rochester Institute of Technology

Questions, Comments, or Concerns? September 18, 2018 Rochester Institute of Technology