Tiffany’s Summer Summary Tiffany Card, Summer 2003 RiSE Climbing Robot Project Stanford University Biomimetics Lab
GumbyBot http://www-cdr.stanford.edu/twiki/bin/view/Main/GumbyBot Weight: 134g Materials body: wood legs: coated steel clothesline joints: nylon bolts tail: Romex Strategies for robust joints: Filing, cleaning cross-pinning, crimping longitudinal filing, increased surface area, hooked end
PartridgeThrust Relevance of past research Experiments and results Potential for future investigation Conclusion: potential contribution to scenarios
Relevance of past research Wing-Assisted Incline Running and the Evolution of Flight Kenneth Dial (U of Montana) Use of wings to increase climbing ability Quantification of mechanism! Coordination of foot placement
Relevance of past research Micromechanical Flying Insect (MFI) Project Ron Fearing (UC Berkeley) Research into complex flapping motion to produce lift Development of 4-bar linkage to mimic complex wing movement (translational and rotational) Difference Optimized on micromechanical scale Used to generate constant, vertical lift instead of intermittent vectored thrust
Relevance of past research Microbat: A Palm-Sized Electrically Powered Ornithopter T. Nick Parnsin-Sirirak et. al (Caltech, UCLA, AeroVironment) Relevance Optimization of wing-mechanism design: Transmission design, wing and frame materials Use of MEMS manufacturing to enhance repeatability, efficiency Difference Restricted to perpendicular flapping motion Designed to weigh under 12.5g, generates small thrust, not maximally energy efficient (uses DC to DC converter to ramp up voltage)
Experiments and results Mounted Propeller Optimized by Moto based on battery weight and mounting bracket weight and angle Artificial duct does not eliminate vortices Interaction between thrust and forward propulsion Compared to pull-back motor alone, addition of wings increases flat surface velocity (1.72.5 m/s) and max angle of ascension (1934 degrees) Influence of thrust?
Experiments and results Simplified case: duck on a motorized unicycle
Simplified case: duck on a motorized unicycle Max friction force
Simplified case: duck on a motorized unicycle Sum of forces in x-direction
Potential for future investigation Dynamic force variance over time Incorporation of MFI-like wings to generate ground effects
Conclusion: potential contribution to scenarios
thanks! Weight: 4,456.3 pounds Length: 3,578 feet