SDIIProjectReviewRev-.doc1 Jonathan KasperProject Manger (ME) Jenna FikeLead Engineer (EE) Matt...
-
date post
19-Dec-2015 -
Category
Documents
-
view
215 -
download
0
Transcript of SDIIProjectReviewRev-.doc1 Jonathan KasperProject Manger (ME) Jenna FikeLead Engineer (EE) Matt...
SDIIProjectReviewRev-.doc 1
Jonathan Kasper Project Manger (ME)
Jenna Fike Lead Engineer (EE) Matt Lewis Design Lead (ME) Josa Hanzlik Mechanical Engineer Ellen Cretekos Mechanical Engineer Nick Rappa Mechanical Engineer Eric Giang Electrical Engineer Mark McKann Mechanical Engineer
P08023: Air Muscle Artificial Limb
Sponsor: Dr. Kathleen Lamkin-Kennard
P08023: Project DescriptionProject Statement:
“Develop a Scalable Robotic Limb that Accurately Models All Degrees of Freedom of Human Fingers.”
Market: RIT Biomechanical ProgramShowcase for New Technology
Key High Level Needs / Engineering SpecsRealistic Finger Motions 4 DOF in Fingers
# Tendons, # MusclesReliability Finger Displacement, +/- 3% Low Cost Air Muscle = $3 approx.Control Repeatability Supplied Air Pressure 60 psi.Reliability & Serviceability Air Muscle Life Span
SDIIProjectReviewRev-.doc 2
Design/Build Concept Summary
Hand MaterialFastenersTendon CableTendon HardwareReturn Ligament CablePneumatic Fittings
SDIIProjectReviewRev-.doc 3
Air Muscle Concept Summary
Mesh MaterialTube MaterialAir Side ConnectorPlug
SDIIProjectReviewRev-.doc 4
Controls Concept Summary
Control SoftwareData Acquisition SystemRelay BoardValvesFeedback Sensor
SDIIProjectReviewRev-.doc 5
SDIIProjectReviewRev-.doc 6
LabVIEW
DAQ
Pressure Valves
Air Muscles
Artificial Hand
P08023: Final Design
SDIIProjectReviewRev-.doc 7
Design/Build Summary
SDIIProjectReviewRev-.doc 8
Push-to-Connect Fitting
Berkley SteelonWire
Aluminum Elastic Shock Cable
Berkley CableHardware
Cotter Pins
Standard Rubber Band
Air Muscle Summary
SDIIProjectReviewRev-.doc 9
Push-to-Connect Fitting
Eye Hook
PET Mesh
1/8” ID Rubber Tube
Controls Summary
SDIIProjectReviewRev-.doc 10
DAQ Relay Board Solenoid Valves
Linear Potentiometer
Air Muscle Testing Results
SDIIProjectReviewRev-.doc 11
Displacement (Length)
0
0.2
0.4
0.6
0.8
1
1.2
1.4
2 2.5 3 3.5 4 4.5 5 5.5Length (in)
Dis
pla
ce
me
nt
(in
)
20 PSI
40 PSI
60 PSI
Preload Test (60psi)
0.85
0.95
1.05
1.15
1.25
1.35
1.45
Initial Week1 Week2 Week5
Elapsed Time (weeks)
Ch
an
ge
in L
en
gth
(in
)
P1
P2
P3
•Abduction/Adduction 2.5in
•Flexion 7in
•Preload variability is less then manufacturing variability
•Applied preload will not effect air muscle output
Oh No You D’nt
SDIIProjectReviewRev-.doc 12
WOW
SDIIProjectReviewRev-.doc 13
Incremental Motion
System TestingEach finger was tested to verify flexion and
ab/adduction motions:Individual FlexionCycling Flexion (x 20)Individual AbductionCycling Abduction (x 20)Individual AdductionCycling Adduction (x 20)Consecutive Motion FlexionConsecutive Motion AbductionConsecutive Motion AdductionIncremental Flexion Motion
SDIIProjectReviewRev-.doc 15
Test Results
No finger breakage was observedNo strain on finger/ligament/muscleSmooth incremental movementNo abnormal delays between interface and
actuationFingers do not contact palmFingers collide, does not affect motion
SDIIProjectReviewRev-.doc 16
Project Evaluation
Successes:Fluid motion of
finger extensionIncremental
flexion motion achievable within 7%
Ease of serviceability
Shortcomings:Simultaneous
manipulation of fingers not possible
Collisions between fingers
Fingers do not contact palm
SDIIProjectReviewRev-.doc 17
Future Work
Addition of Pinky and ThumbFinger Design ImprovementManipulation of Multiple Fingers
SimultaneouslyIntegrated Grasping CapabilityTactile FeedbackReduced Air Muscle VariabilityExtended Air Muscle Life
SDIIProjectReviewRev-.doc 18
Special ThanksDr. Kathleen Lamkin-
KennardMr. John WellinMr. Scott KennardDr. Steven DayDr. Matthew MarshallMr. William ScarbroughRIT New Faculty
Development Grant
Mr. Edward HanzlikMr. David HathawayDr. Mark KempskiMr. Robert KraynikMr. Steven KosciolMr. Jonathan Niebielski.