1. P14253: Underwater McKibben Manipulator
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.