P16227 – INFLATABLE ROBOTIC HAND Team Members: Name Major Role Email Travis Emery Mechanical Engineer External Communications tse8682@rit.edu Andres Ulloa Biomedical Engineer Project Manager adu8917@rit.edu Timothy Kremers Lead Engineer tsk3160@rit.edu Shehan Jayasekera Internal Communications gbj6142@rit.edu Lucas Prilenski Electrical Engineer Purchasing ljp2706@rit.edu Guide: Art North Client: Dr. Kathleen Lamkin-Kennard Sponsor: The Boeing Company From Left: Travis, Shehan, Tim, Andres, Lucas Project Objective: Create an arm and hand mechanism that can inflate out, pick and move an object, and deflate back. The arm and hand should have a small profile until inflated. Inflation must and actuation force must utilize air only. The hand must at least vaguely resemble a human hand with at least three fingers. The arm and hand mechanism must also be mounted on a moveable platform (i.e. vehicle) and both the mechanism and platform must be controllable remotely. The expected result is a functional prototype that can pick up a standard tennis ball. Subsystems Key Features Handled by Control Power supply, motor and solenoid drivers, microcontroller Lucas Prilenski, Andres Ulloa Navigation Motor and wheels, frame structure and mounting Timothy Kremers Force Actuation Arm and finger, air compressor, solenoid valves, pressurized air storage Travis Emery, Shehan Jayasekera Objective Summary: Arm and hand can inflate, pick up tennis ball, deflate Actuation force provided by pressurized air All components (arm, hand, and vehicle) can be remotely controlled by user Design Choices: Control Control Interface: Xbox360 Controller Signal Transmission: Radio Control Board: Arduino MEGA Battery: 12V Lead-Acid Navigation Ground Interface: Wheels Propulsion: Motor Positioning/Steering: front wheel drive Force Actuation Arm and Hand Hand: 3 fingers Arm: 4-channel cells (2 DOF) Flow Loop Pressurization: Air Compressor Flow Regularization: Solenoid Valves and pressure regulators Deflation via decompression Arm/Hand Design and Fabrication: Arm Arm made from many layers; each layer has 4 air chambers (aka channels) Each channel can be inflated Arm molds* for the arm cells were made from PlexiGlass Arm material: Smooth-On DragonSkin® Fingers Molds for the finger were 3D printed with the aid of designs taken from Soft Robotics Toolkit* Finger material: Smooth-On DragonSkin® Flow Loop Design and Assembly: Single portable air compressor for pressurizing storage tank Air from storage tank used to actuate arm and fingers Air flow controlled by solenoid valves Valve set-up allows for each arm channel and finger to be inflated and deflated individually Pressure regulators put in place to reduce output pressures to arm and fingers All components rated to at least 100psi (operation pressure range ~40psi) System can be depressurized via valve A; Arm and hand can be deflated by releasing air thru the 2-way solenoid valve Chassis/Frame Assembly: Frame size: 2ft by 1.5ft Locomotion is handled by 4 wheels and 2 motors (rear wheel drive) Motor driver: Cytron MDD10A Floor clearance: 4in Surface platform will hold arm/hand, air compressor, air tank, flow loop, battery, and circuitry Project EDGE Page: http://goo.gl/fmnGgG References: Soft Robotics Toolkit Arm Cell Design