1. Jeffrey Gould Robot Mobility in Harsh Environments Using Hydraulically Actuated Articulated Limbs

2. Outline Objectives Criteria and Constraints Design Overview Some Specifics “In the Works”

3. Objectives To Develop a Novel Approach to Robot Locomotion Suitable for Urban Search and Rescue Design and Construct Critical Subsystems in a Prototype Emphasis on Kinematics and Controls

4. Criteria and Constraints Strong Enough to Force Its Way Through Rubble Physically Robust Enough to Survive in Harsh Environment Stable and Robust Control System Untethered Small to Penetrate Rubble Without Adversely Affecting Structure’s Stability Lightweight to Reduce Power Demands Simple to Set-Up and Operate Non-Hazardous

5. Design Overview

6. Burrowing Inspiration

7. Basic Arm Kinematics Two Joints Hydraulically Operated 180° Not Possible

8. More Inspiration Only Need 135° Not Unique Possible to Optimize

9. Optimization Shortest/Smallest –Cost –Bulk –Weight –Flow Rotation Requirement Torque Requirement

10. Equations

11. Heuristic Approach

29. How to Pick d min ? Determines Force Against Environment Mission Requirements More Information on Complete Robot Using 300-500 Pounds at Tip Interference

30. Joint Specifics Find Rod End Find Bearing Check For Clearance

31. Bearings

32. FeFe FcFc FrFr RL

33. Tubing

34. In the Works Valves Pump Folding Design Balance Sensors

35. Folding Design Might be advantageous for locomotion Needed to get through doors

36. Balance Tail Section Simple Rear Legs

37. Sensors Joint Angle –Optical Encoder –Absolute –Single Turn Pressure Sensors Strain Gages Whiskers/Proximity

38. Questions?

39. 180° Concept

40. Components