1. Hydraulic Modular Articulated Robot – Preliminary Design ME481 Group 3 Abed Alnaif 4A Mechatronics Engineering University of Waterloo October 6, 2008

2. Hydraulic Modular Articulated Robot Introduction Articulated robot is a series of links connected by rotary joints

3. Hydraulic Modular Articulated Robot Needs Assessment / Problem Formulation Articulated robot that is modular and extendable Modules are identical Length of robot is easily customized by adding or subtracting modules Modules need to be able to support rest of the robot

4. Hydraulic Modular Articulated Robot Problem Definition Goals: Have 2-module prototype built Have control algorithm developed Objectives: Accuracy of control Compact size

5. Hydraulic Modular Articulated Robot Constraints & Criteria Constraints: $1500/module Capable of lifting 60 kg with 2 modules Capable of supporting at least 10 modules Criteria: Size Load Capabilities Controllability (ease and accuracy of control)

6. Hydraulic Modular Articulated Robot Current Technologies & Patents Current modular robots are built from electrical actuators Low power-to-weight ratio

7. Hydraulic Modular Articulated Robot Current Technologies & Patents (2) Modular, reconfigurable robots

8. Hydraulic Modular Articulated Robot Current Technologies & Patents (3) Snake-arm robot

9. Hydraulic Modular Articulated Robot Current Technologies & Patents (4) Patent 6323615, titled “Modular Articulated Robot Structure” Vague Published 02/03/2004

10. Hydraulic Modular Articulated Robot Advantages of Hydraulics Helac Hydraulic Helical Rotary Actuator Weight = 6 kg Nominal output torque = 190 N-m 100 mm 140 mm Amtec Servo Motor and Gear Box Weight = 3.2 kg Nominal output torque = 45 N-m 180 mm 90 mm High Power Density

11. Hydraulic Modular Articulated Robot Advantages of Hydraulics (2) Micromatic Vane Hydraulic Rotary Actuator Weight = 9.75 kg Nominal output torque = 773 N-m 124 mm 195 mm High Power Density

12. Hydraulic Modular Articulated Robot Advantages of Hydraulics (3) Easily customizable mechanical advantage Force = Pressure * Area Velocity = Flow / Area Ease and accuracy of control Ability to lock position of modules

13. Hydraulic Modular Articulated Robot Disadvantages of Hydraulics Need to use valves Oil leaks Noisy

14. Hydraulic Modular Articulated Robot Conceptual Designs 2 Rotary Actuators

15. Hydraulic Modular Articulated Robot Conceptual Designs (2) 2 Rotary Actuators Reconfigurable

16. Hydraulic Modular Articulated Robot Conceptual Designs (3) 3 Cylinders Can rotate, as well as extend the next module

17. Hydraulic Modular Articulated Robot Challenges Achieving compactness Routing of hydraulic hoses Controls Nonlinear Effects of positioning one module on other modules (Action / Reaction Forces) Funding

18. Hydraulic Modular Articulated Robot Questions?