1. Team P11029: William Dwyer Joseph Mead Shaynae Moore Casey O’Connell

2. Agenda Background BOM, CS Needs, ENG Specs Final Design Decisions Deviations, Controls Materials and Manufacturing Results Future Work Conclusions Background BOM, CS Needs, ENG Specs Final Design Decisions Deviations, Controls Materials and Manufacturing Results Future Work Conclusions

3. Background/Review of Needs

4. Background/Review of Specs

5. B.O.M

6. Final Design Deviations Clear Shell Gives the viewer a view to the mechanical aspects of our device Puncture to relieve air bubbles Fishing Wire 15lb test Line for tendons Gate valve solenoids Double bolting the forearms CAD Model Interface Brass washers to reduce friction Lock Washer Fittings Clear Shell Gives the viewer a view to the mechanical aspects of our device Puncture to relieve air bubbles Fishing Wire 15lb test Line for tendons Gate valve solenoids Double bolting the forearms CAD Model Interface Brass washers to reduce friction Lock Washer Fittings

7. Final Design-Controls LABVIEW CONTROLS Both arms operate independently of each other. On each hand two muscles pairing relationships can be operated. Pinching can always be preformed in any wrist position Flexion and Extension are analog choices (one or the other) Pincher response is much quicker than wrist response. LABVIEW CONTROLS Both arms operate independently of each other. On each hand two muscles pairing relationships can be operated. Pinching can always be preformed in any wrist position Flexion and Extension are analog choices (one or the other) Pincher response is much quicker than wrist response.

8. Materials and Manufacturing Variety of Manufacturing Methods CNC Acrylic Baseplate Laser Cut Aluminum Legs Claw Components Mill and Lathe Umbilical Assembly Mounting Bracket Rapid Prototyping Brinkman Lab Visor & Mounting Brackets Fine Line Prototyping Shell Variety of Manufacturing Methods CNC Acrylic Baseplate Laser Cut Aluminum Legs Claw Components Mill and Lathe Umbilical Assembly Mounting Bracket Rapid Prototyping Brinkman Lab Visor & Mounting Brackets Fine Line Prototyping Shell

9. Results – Above water http://vimeo.com/20089892

10. Results - Underwater http://vimeo.com/20089817

11. Future Work SELF CONTAINED UNIT FEEDBACK CONTROL LOCOMOTION COMPATABLE WITH BIOROBOTICS (EE) CLASS SELF CONTAINED UNIT FEEDBACK CONTROL LOCOMOTION COMPATABLE WITH BIOROBOTICS (EE) CLASS

12. Conclusions Testing Observations Improved Performance in Water Friction between the aluminum plates and clamps appears to be lubricated and slides with ease Pincer cycling is faster than Wrist Cycling Strength of springs affect resistance load. Less mass to move in Pincher Repeatability Of muscles Useful application underwater! Testing Observations Improved Performance in Water Friction between the aluminum plates and clamps appears to be lubricated and slides with ease Pincer cycling is faster than Wrist Cycling Strength of springs affect resistance load. Less mass to move in Pincher Repeatability Of muscles Useful application underwater!