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

2. 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

3. 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

4. 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

5. 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

6. 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

7. 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

8. 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

9. 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

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

11. 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

12. 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

13. 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

14. 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

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