Printable Pouch Motors

Slides:

Advertisements

Similar presentations

2007 FIRST Robotics Conference Pneumatic Power Presented by: Raul Olivera, WildStang

Advertisements

Neuqua Valley High School

Manipulator Dynamics Amirkabir University of Technology Computer Engineering & Information Technology Department.

Fluid Power Introduction

Fluid Power Introduction

Machines that Make machines Hod Lipson Mechanical & Aerospace Engineering Computing & Information Science Cornell University Computational Synthesis Lab.

1 CMPUT 412 Actuation Csaba Szepesvári University of Alberta TexPoint fonts used in EMF. Read the TexPoint manual before you delete this box.: AA A A A.

SimMechanics Example.

Lab Presentation 12/10/2010. Safer Human Robot Interaction through Compliance in Design Compliance via pneumatic actuators – Inertia reduction – Inertia.

“Develop a Scalable Robotic Limb that Accurately Models All Degrees of Freedom of the Fingers.”

Requisite technologies mechatronic components applications flexonic devices overview Flexonics describes our vision of a new class of mechatronic devices.

Pneumatic Power FRC Conference 4/27/06

Undergraduate Robotics at Roger Williams University Matthew Stein Roger Williams Unversity.

Laboratory for Perceptual Robotics – Department of Computer Science Embedded Systems Motors.

USC Viterbi School of Engineering. Alternative CC Robotic Systems.

Ventricle Chamber Valve Imaging Chamber ECG Machine Aortic Compliance Chamber Buffer Chamber Secondary Compliance Chamber Flow Meter Pressure Sensors DAQ.

Fluid Power Introduction

ACTUATOR. An actuator is a type of motor for moving or controlling a mechanism or system. It is operated by a source of energy, usually in the form of.

Mechanical Engineers: Brian Church Tyler Breitung Michael Oplinger Electrical Engineers: Anthony Salmin Ross Bluth Stephen Mroz Sponsor: Dr. Roman Press.

INTEGRATED SYSTEMS 1205 Technology Education A Curriculum Review Sabine Schnepf-Comeau July 19, 2011 ED 4752.

System Models Mathematical Models Mechanical System Building Blocks Electrical System Building Blocks Fluid System Building Blocks Thermal Systems Building.

A Novel Dermoscopic Probe for Determining Elasticity Measurements of the Skin Group 7: Erica Bozeman Markesha Cook Stephanie Cruz November 14, 2006.

7.3 ENERGY LOSSES AND ADDITIONS  Objective: to describe general types of devices and components of fluid flow systems.

Hydraulics. An area of engineering science that deals with liquid flow and pressure.

Controls. Given a set of desired Tool frame positions and orientations (that trace out a path over time, t ), there will be a corresponding required set.

ECE 480 Design Team 1 Autonomous Docking of NASA Robotic Arm.

Rapid Assemblers: From Analog to Digital Additive Manufacturing Computational Synthesis Lab Hod Lipson, Jonathan Hiller Mechanical & Aerospace Engineering.

Hydraulics. An area of engineering science that deals with liquid flow and pressure.

Experiment 2-4 Power and Work. Objectives: 1. Define the terms “power” and “work.” 2. Describe the forms of power produced by a fluid power system. 3.

Project Goals Prove feasibility of hydraulic McKibben muscles Build a fully submersible robotic platform Execute realistic fish motion with a fish-like.

Pascal’s Principle: More Practice. Fluid Systems: Student Success Criteria I can describe common components used in hydraulic and pneumatic systems.

EE 460 Advanced Control and System Integration

Design of a Compliant and Force Sensing Hand for a Humanoid Robot Aaron Edsinger-Gonzales MIT Computer Science and Artificial Intelligence Laboratory.

ICT 1 MODULAR SNAKE ROBOT 3D MODELLING, IMPLEMENTATION AND CONTROL Pål Liljebäck – Øyvind Stavdahl – Kristin Y. Pettersen.

By John Templeton.  Definition- the science that deals with the laws governing water or other liquids in motion and their applications in engineering;

Cross product Torque Relationship between torque and angular acceleration Problem solving Lecture 21: Torque.

Mouse Trap Catapult. Make Booklet  Please fold __ sheets of paper together.  On the front page  Title: Mouse Trap Catapult  Name  Date.

Fluid Power Introduction All Images reprinted with permission of National Fluid Power Association.

Fluid Power Introduction © 2012 Project Lead The Way, Inc.Principles of Engineering All images reprinted with permission of National Fluid Power Association.

Pneumatic Servo Valves

Manufacturing Engineering Hydraulic and Pneumatic Systems

1 Sensors and Transducers. 2 Physical Process Measurand Signal variable Display X S Measurement M Simple Instrument Model Physical Measurement variable.

14ME404 INTRODUCTION TO MEMS DISCIPLINE ELECTIVE-II Thanking everyone for MEMS as an elective subject Dr.J.S.Senthilkumaar, Professor Mechanical Engineering.

14ME404 INTRODUCTION TO MEMS DISCIPLINE ELECTIVE-II Thanking everyone for MEMS as an elective subject Dr.J.S.Senthilkumaar, Professor Mechanical Engineering.

A Compiler for Printable Robots

Mechanical Measurements and Metrology

Fluid Power Systems And Fundamentals

Fluid Power Introduction

Potential Applications

Fluid Power Introduction

Fluid Power Introduction

Fluid Power Introduction

From: Robogami: A Fully Integrated Low-Profile Robotic Origami

Review topics What is Biomechanics? Organization of Mechanic

Pneumatic Power FRC Conference 4/27/06

Energy Systems An energy system is a method by which energy is transferred and work is done. There are four basic types of energy systems: Mechanical Fluid.

Fluid Power Introduction

Domo: Manipulation for Partner Robots Aaron Edsinger MIT Computer Science and Artificial Intelligence Laboratory Humanoid Robotics Group

Structures and design unit: forces

Fluid Power Introduction

Hydraulics Used in many applications in industry!.

P16227 – INFLATABLE ROBOTIC HAND

Mechanics / Comp. Structure Design / Dynamic Analysis / System Integration Structural vibration / Rotor Dynamics / Active Noise Control Thermal Fluid Analysis.

A 3D-printed, functionally graded soft robot powered by combustion

Fluid Power Introduction

Fluid Power Introduction

Mechanisms Vocabulary

Domo: Manipulation for Partner Robots Aaron Edsinger MIT Computer Science and Artificial Intelligence Laboratory Humanoid Robotics Group

Presented By : S.Pradeep (AP/MCT)

Fluid Power Introduction

Presentation transcript:

Printable Pouch Motors Xu Sun Biomimetic Robotics Lab MIT Mechanical Engineering May 2014

Agenda Printable Actuators with Computer Aided Design Current work Tape and sticker demo: it can be used in everyday objects Pouch performance and control Haptic wearable: master to slave robotic hand Miniature pouches and scalability Others: thermally actuated pouches, printable valves

Printable Actuators with Computer Aided Design Preparing for International Journal of Robotics Research: Ryuma Niiyama, Xu Sun, Cynthia Sung, Byoungkwon An, Daniela Rus, and Sangbae Kim

Fabrication Process Heat Drawing Heat Stamping

Integrating PPR Fabrication Processes Pouch motor with self-folding structure, and computer aided design? Pneumatic structures that can move with no electronics at all … Pouch motor with Penn’s pick and place 3D printer? Pouch motors are made with thermoplastic materials. They should be able to thermally bind to 3D printed structures.

Pouch Actuators and Potentials video

Performance: Linear Tension Test Force (N) Position (m) Test set up

Performance: Angular Torsion Test Test set up Ryuma Niiayama, Daniela Rus, Sangbae Kim, Pouch Motors: Printable/ Inflatable Soft Actuators for Robotics, ICRA 2014,

Control: the idea Tension - Knowing the relationship between tension force and pressure at a given position (distance between the two joints), by controlling pressure, we can control tension force. Torque – Similarly, knowing the relationship between torque and pressure at a given angular position (starting angle of the two joints), by controlling pressure, we can control torque.

Control: the method Velostat and strain gauge for pressure sensing Velostat is a back, opaque, volume-conductive, carbon-impregnated polyolefin

Ryuma Niiyama, Xu Sun, Michael Smith, Rob Wood and Sangbae Kim Miniature Pouches Ryuma Niiyama, Xu Sun, Michael Smith, Rob Wood and Sangbae Kim

Thermally Actuated Pouches video