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Robot Fabrication MURI Fabrication

Published byAna Isabel Tebar Macías Modified over 6 years ago

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Presentation on theme: "Robot Fabrication MURI Fabrication"— Presentation transcript:

1 Robot Fabrication MURI Fabrication
High-Level Control MURI Low-Level Fabrication Robust biomimetic structures and systems Built-in tailored compliance and damping

2 Shape Deposition Manufacturing
Add and Remove material – relatively arbitrary geometries Mill accuracy for external and internal surfaces Part Support Deposit (part) Shape

3 SDM Process Can also embed components Pressure Transducer

4 SDM Process Can spatially vary material properties – within and between layers Embed Shape

5 SDM Process Material Properties and Database
cdr.stanford.edu /biomimetics/sdm.html Material Considerations Machinability Minimal shrinkage Bonds to self Low viscosity Low curing temperature Strength/stiffness

6 State of the Art – Sept. 1999 Manufacturing Embedded components
Leaf-spring Piston Pressure Sensor Fitting Inlet Valve Exhaust Valve 10 cm Embedded components Multiple-materials

7 State of the Art - Sept. 1999 Robot prototypes – Old Sprawl
Passive compliant hips Walks well No control of direction or amount of compliance Ad hoc construction – No SDM

8 Goal for Aug. 2000 – SDM Robot Compliant hip Feedforward
Alternating tripod Stable running Obstacle traversal

9 SDM Robots 1st SDM leg Limited control of amount and direction of compliance Imbedded connectors and piston Reproducible, but non-functional design

10 SDM Robots 1DOF leg One primary direction of compliance
Works very well, robust Currently investigating the effect of varying compliance

11 SDM Robots 2 DOF legs Linear and Rotational DOFs
Can independently control direction and amount of compliance

12 Spatial 4-bar Mechanism

13 SDM Process Planning

14 Current Work Modular Compliance Can manually swap flex segments
10 different levels Is being used to test the effects of varying the stiffness of the leg

15 Current Work Modular Bodies Can manually swap Servo Motors and Valves
Embedded electronic backbone Robust packaging

16 Future Work Foot Design Design feet for optimal ground contact
Embed contact/force sensors into legs Feed back for adaptation Jorge failed feet

17

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