1. The Tendril SURE 2006 Matthew Bennink Advisor: Dr. Ian Walker

2. Overview Intro. to Robotics NASA’s Tendril Robot Problems My Work Results Discussion Conclusions

3. Intro. To Robotics Robotics – the science and technology of robots, their design, manufacture, and application. Kinematics – relationship between joint (internal) variables and task (external) variables, at position and velocity levels.

4. Tendril Inspiration Biology Medical Equipment

5. NASA’s Tendril Length : 1m Diameter : 1cm 8 External Motors

6. NASA’s Early Kinematics Tip Joint M 3 = Pitch M 4 = -Yaw Upper Joint M 1 =.7 Yaw -.7 Pitch M 2 =.7 Yaw +.7 Pitch

7. NASA’s Kinematics Tip Joint M 3 = Elev cos(Az) M 4 = Elev sin(Az) Az = Az + Azoff Elev = (1 + Kboost) Elev

8. NASA’s Results Tip can be reliably pointed +/- 30 deg Upper joint is commanded directly Pass through extend and rotate commands.

9. Problems Kinematics Gravity Coupling Twist Size

10. My Work Visit to Johnson Space Center Assembly of Clemson’s Tendril Simple Control Tendril in Motion

11. Assembly 23 threaded links and springs. Teflon tubing Spectra fishing line

12. Assembly

13. Control

14. Conclusions Hardware Some problems as a result of springs. Tension with tendons is also problem. Software QMotor is sufficient. Algorithms are easily implemented. We have a Tendril.

15. Acknowledgements Dr. Ian Walker Dr Noneaker & Dr. Xu Matt, Martha, David, & Vilas