Team P14029: McKibben Muscle Robotic Fish

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1 Team P14029: McKibben Muscle Robotic Fish Project Manager: Zachary Novak Mechanical Design Lead: John Chiu Lead Engineer: Seaver Wrisley Controls and Instrumentation Lead: Felix Liu

2 AGENDA Project Background Problem Statement Deliverables Market Evaluation Customer Requirements and Constraints Engineering Specifications with House of Quality System Analysis and Concept Generation Functional Decomposition Morphological Analysis Concept Development Existing Solutions Alternatives Considered Body Styles Pressurization Systems Communication methods Pugh Analysis Selected Concept Projected Budget System Architecture Project Planning Engineering Analysis Needed Test Plan Outline Risk Assessment Scheduling

3 PROJECT BACKGROUND

4 PROBLEM STATEMENT This project is designed to prove the feasibility of McKibben muscles for use in underwater robotic applications, and to develop core technology and a platform for other teams to use in the future. The project specifically seeks to develop a soft-bodied pneumatic fish that looks, moves, and feels like a fish. The robotic fish should be capable of swimming forward, backward, and turning, most likely using Body Caudal Fin propulsion, and the primary mechanism for generating the swimming motion must be McKibben muscles.

5 DELIVERABLES A functional prototype which meets all customer requirements, and that may be used as a platform to be expanded upon by future MSD teams Detailed documentation covering project design, testing, and fabrication Appropriate test data ensuring all customer needs are met Detailed user manuals for operation and troubleshooting Suggestions for future expansion

6 MARKET NICHE Government NOAA (National Oceanic and Atmospheric Administration) Total 2014 Budget: 5.4 Billion Private Fields Survey and Monitoring Projects: 24.8 Million Ocean Exploration and Research: 29.1 Million Offshore Drilling Market Projected 2018 Value: 121 Billion Predicted to spend 640 Billion this year just to find oil Case Study: Oceaneering International Inc. (OII) 90% of 1.97 Billion revenue from oil & natural gas sector Remotely Operated Vehicles (ROV) account for 630 Million Underwater tasks: drill support, installation/construction support, pipeline inspection, surveys and subsea production facility operation and maintenance

7 CUSTOMER REQUIREMENTS Customer Needs Project Category Customer Need # Customer Need Description Importance Robotic Fish Powered by McKibben Muscles Swimming abilities Aesthetics Desired Methods Materials User Interaction CN1.1 Swims straight forward 9 CN1.2 Swims straight back (not important if it can turn sharply enough) 1 CN1.3 Turns 6 CN1.4 Uses body caudal motion 1 CN1.5 Can swim in a three foot deep tank 9 CN1.6 Is submersible 9 CN2.1 Moves like a fish 9 CN2.2 Looks like a fish 9 CN2.3 Feels like a fish 3 CN2.4 Soft body, at least around joints 3 CN3.1 Uses McKibben muscles (constraint) 9 CN3.2 Uses water, air, or CO2 as working fluid (constraint) 3 CN3.3 Robust platform (can be built onto and used repeatedly) 3 CN4.1 Skin material is soft 1 CN4.2 Materials are corrosion resistant 1 CN5.1 Remote controlable or programmable (constraint) 9 CN5.3 Fish is safe to operate and handle 9 Cost CN6.1 Budget negotiable, keep cost low and reuse old components 3 Document- ation CN7.1 Documentation of all analyses 9 CN7.2 Bill of materials 9 CN7.3 Detailed instruction manual 9 CN7.4 Publishability of results 1

8 CONSTRAINTS Constraints Constraint # C1 C2 C3 Constraint Description Uses McKibben muscle actuation Uses air or water as a working fluid Remotely controllable or programmable

9 ENGINEERING REQUIREMENTS Selected engineering specifications Maximum turning radius: Two body lengths Maximum height: 3 feet Operation time: 1 hour Corrosion spec: ASTM 610 Safety Maximum voltage present: 24V DC Maximum allowable pressure: 70psi Maximum pinching force in joints: 10lbs Body and fin motions: 30% tolerance to published values (next slide)

10 FISH MOTION PARAMETERS

11 SYSTEM ANALYSIS AND CONCEPT GENERATION

12 FUNCTIONAL DECOMPOSITION

13 MORPHOLOGICAL ANALYSIS (1 OF 2) Fish Type Harp Type Manta Ray Eel Body Caudal Fin Motion (Oscillation) Median Paired Fin Motion Body Caudal Fin Motion (Undulation) McKibben Muscle w/ Pulleys McKibben Muscle w/ Linages McKibben Muscle w/ Flexible Membrane Soft Robotic Air Muscle Body as Rudder Independed Paired Fin Control Bias Weight and Carve Side- Mount Thrusters (Water, Air, Prop, etc.) Syringe Pump DC Pump DC Motor Servos Cams Rack and Pinion Wireless Option w/ Buoy Wireless Option Tethered Option w/ Spooled Cable Locomotion Type Locomotion Mechanism Turning Mechanism Actuation Source Actuation Method Communication Process Solenoid Valve Block

14 MORPHOLOGICAL ANALYSIS (2 OF 2) Process Commands Morph Chart on Edge Arduino Self Controlled Labview w/ User Interface Onboard Minions Transmit Commands Remote Controlled Radiowaves Telepathic Bluetooth Sonar/Voice Commands Actuation Fluids Water Air CO2 Power Source Battery Wall Plug Solar Wind Chemical Reaction Membrane / Skin Materials and Methods Paper Mache Plastic Soft Polymer Skin Fiberglass Stamped Texture (Scales etc.) Painted Features Screenprinted Body Structure Mesh Cage Molded Plastic Formed Metal Cast Iron Fiberglass Universal Joints Cables Depth & Orientation Control Low Center of Gravity (Keel) Extended Stabilization Supports Well Balanced Design Air Bladder

15 CONCEPT DEVELOPMENT

16 EXISTING SOLUTIONS

17 BEST CURRENT BIOMIMETIC FISH Due to the innovative nature of this project, there isn t anything currently on the market to directly compare to. However, University of Essex successfully constructed an excellent biomimetic fish utilizing servomotors in place of air-muscles.

18 ALTERNATIVES CONSIDERED Communication Methods Body Styles Pressurization Systems

19 Tethered to Outside of Tank Tethered to Buoy Untethered COMMUNICATION METHODS Pros: Wow factor, no cables to get in the way, lifelike appearance Cons: More complex, need to accommodate onboard power and fluid, no real-time control Pros: More robust communication, can put water-sensitive equipment on buoy, possible realto time control Tethered floating platform Cons: Tether might impede motion, less lifelike appearance Pros: Most robust communication, less spatial concerns, more power and working fluid supply options, Tethered to outside of possibletank real time control Cons: Least aesthetically appealing, tether may affect maneuverability

20 BODY STYLES

21 EEL Many joints would be needed to create smooth undulatory motion. Pros: Increased maneuverability Potential for increased speed Tighter turning radius with proper sequencing Cons: Much more complex; more muscles and higher cost Higher potential for catastrophic failure

22 MANTA RAY System of flexible ribs, cables, and McKibben muscles used for propulsion. Pros: McKibben muscles can be used quite easily Cons: Uncertainties around maintaining proper orientation.

23 SALMONOID Body consisting of 3 sections with 2 joints. Pros: Fewer muscles, easier to implement and control Less probability of failure Cons: Concerns about turning radius with only 2 joints

24 PRESSURIZATION SYSTEMS

25 PADDLE WHEEL Rotate paddle wheel via McKibben muscles and linkage system Pros: Easy to implement, would facilitate easy reverse motion Cons: Issues with non-lifelike motion Difficulty turning Doesn t use muscles in manner that customer desires

26 SYRINGE PUMP System with microprocessor controlled servos, actuating pairs of syringe pumps in unison Pros: Balanced lifelike motion at joint Precise control via servo Possibility for autonomous behavior Cons: Separate servo and pump pair needed for each muscle pair Cost and size concerns Limited linear actuation

27 CENTRIFUGAL PUMP Pressure provided by centrifugal pump, distributed to muscles by microprocessor controlled solenoid manifold Pros: Individual muscle control Potential for autonomous untethered operation Can add additional actuation circuits Cons: Size/weight concerns Binary nature (off/on) may lead to actuation speeds that are less than lifelike 3.6A at 24V DC at full flow; can run for over 1 hour with current batteries

28 PUGH ANALYSIS (1 OF 2) Tethered salmon Evaluation criteria Tether required? Yes s s Cost Good Space required Good s - - s - Communication robustness Good s s - s + Waterproofing importance Low s s Speed Poor s s Muscle delay time Medium - - s + s D Realtime control Yes s A Premade programs Yes s s s s s T Effective turning Medium s U Fish- like look and feel Medium M Depth control Poor Maintaining orientation Poor Uses McKibben muscles Yes s s s - s Number of actuators required High + + s + - Safe Medium s Feasibility for 2 semesters Yes s s User friendly control Low s s + + s Manta Ray Design Paddle- wheel design Untethered salmon Essex fish Untethered eel s

29 PUGH ANALYSIS (2 OF 2) Essex fish was the best available concept Does not meet the requirement of using McKibben muscles! Untethered salmon was best concept +'s minus - 's Best to worst Essex fish Manta Ray Design Paddle- wheel design Untethered salmon Tethered salmon Untethered eel Datum Datum rd 5th 1st 2nd 4th

30 COMBINATIONS CONSIDERED FURTHER Feature Concept 1 Concept 2 Body Style Salmonoid Salmonoid Propulsion System Centrifugal Pump Syringe Pump Communication Interface Untethered Untethered Required feasibility analysis to decide between the two concepts

31 FEASIBILITY ANALYSIS Had to perform feasibility analysis to decide between the two concepts Did volume calculations in order estimate volumetric flow rate Assumed that ~20psi was enough to actuate muscles, as fast jerky actuation is undesired Per individual muscle Initial diameter (in) Initial length (in) Initial volume (in^3) Final diameter Final length Final volume Volume change (in^3) Muscles per joint # of joints # of muscles Volume per cycle (in^3) Volume per cycle (gal) Cycles per second Flow (in^3/min) Flow (gal/min)

32 FEASIBILITY ANALYSIS COSTING Preliminary costing for pump and solenoid pressurization option was $232 Preliminary costing for syringe pump pressurization system was $208, assuming no additional linkage is required

33 SELECTED CONCEPT: #1 (Untethered)

34 TENTATIVE PROJECT BUDGET

35 SYSTEM ARCHITECTURE Detailed System Architecture (too large to show here)

36 ENGINEERING ANALYSIS REQUIRED Feasibility analysis was a subset of the total engineering analysis required Flow chart was created to show how parameters relate into component sizing Illustrates relationships between calculated variables, inputs, and outputs File displayed on Edge

37 TEST PLAN OUTLINE Salt Spray/Fog Test (ASTM B117-11) Motion Analysis Student Poll of fishiness aesthetics Turning Radius Measurement (Ensure R<2L) Waterproofing test (IP68) Buoyancy Test (ρ ave 1000 kg/m 3 )

38 RISK ASSESSMENT SCALE Likelihood Scale Severity Scale 1 2 This cause is unlikely to happen This cause could conceivably happen 1 2 The impact on the project is very minor. We will still meet needs on time within budget, but it will cause extra work The impact on the project is noticeable. We will deliver reduced functionality, go over budget or fail to meet some of our Engineering Specifications 3 This cause is very likely to happen 3 The impact on the project is severe. We will not be able to deliver anything, or what we deliver will not meet the customer's needs

39 RISK ASSESSMENT (1 OF 3) ID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner Describe the risk briefly 1 Does not move like a fish What is the effect on any or all of the project deliverables if the cause actually happens? We would fail to meet a very important design requirement 2 Project Scope too large Project not completed on time What are the possible cause(s) of this risk? The design of the fish could not accurately mimic a fish Poorly defined project limits L*S What action(s) will you take (and by when) to prevent, reduce the impact of, or transfer the risk of this occurring? Who is responsible for following through on mitigation? We need to look heavily into the literature to find good models that can Mechanical Engineer aid in designing a fish that can mimic realistic motion Project scope will be assessed by our guide and the customer on a weekly bases Mechanical Engineer 3 Power Source becomes faulty Prevents the system to operate Possible faults in the waterproofing, power surge, etc Make sure that the waterproofing is checked upon usage or after reassembly. Mechanical Engineer 4 Faulty waterprooging Damage onboard electronics. 5 Materials arrive late 6 Program of the fish does not work as planned This would push back deadlines and possibly hinder our means to achieve deadlines. The fish will not perform our intended actions Not properly sealed electronics compartment Ordered parts are done last moment or it took too long to get a list of parts to order Too many bugs in the program Make a procedural list when opening and closing the cabin to make sure that all sealed components are reassembled correctly. If we are to build something or require something to be ordered, allow at minimum of 2 weeks or ship time before anything is due. Leave plenty of time to program and testing to eliminate bugs in the system/program. Mechanical Engineer Mechanical Engineer Mechanical Engineer 7 The fish is too heavy or light and the bouyancy controls cannot compensate for it. The fish will sink and cause a redesign Utilizing too much material without calculating the end weight in the design process Keep lighter materials in mind during the design process and use a CAD program to calculate the mass of the fish. Mechanical Engineer 8 Team members don't contribute equally 9 Doesn't feel like a fish 10 Doesn't turn within two body lengths Fall off of pace Doesn't meet one of the customer requirements Doesn't meet one of the customer requirements Other obligations, lack of time, etc. Improper texture or hardness of outer fish casing Poor turning efficiency/speed, inability to change thrust vector Make sure that work is distributed equally Have other materials to make outer casing from Mechanical Engineer Mechanical Engineer Proper simulation and testing Mechanical Engineer

40 RISK ASSESSMENT (2 OF 3) ID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner Describe the risk briefly 11 Our project goes over budget 12 Poor orientation control What is the effect on any or all of the project deliverables if the cause actually happens? Cannot complete the project's scope Fish sits sideways, swims ineffectively What are the possible cause(s) of this risk? Utilizing expensive parts or too many of them Our active/passive stablization becomes faulty or broken L*S What action(s) will you take (and by when) to prevent, reduce the impact of, or transfer the risk of this occurring? Who is responsible for following through on mitigation? Create each system with the most optimal cost to effect Mechanical Engineer We could make sure that the fish has a low center of gravity to aid in keeping the upright position. Leave Mechanical Engineer enough time to test whatever stablizations we add to the fish. 13 Muscles tear off of mounting Specific joint doesn't actuate Improperly constructed muscle mount fixtures, loose mounting hardware, excessive pressure spikes Ensure muscles are attached securely Mechanical Engineer 14 Fish fails corrosion test Motors or pumps deadhead and are damaged Chosen materials/designs do not stand up to the rigors of testing/perfoming Fish rusts, degrades appearance and motion at joints Motors or pumps burn out The fish will break and cause a redesign. 17 Losing a team member Less manpower Poor material selection, waterproofing techniques Insufficient flow rates and/or cooling and/or too extreme conditions Not enough analysis of the system's structure. Living in parents basement beats MSD Electrocution hazard Safety hazard Exposed voltage Components don't all fit within the fish body 20 Parts are damaged during build Incorrect voltage supplied by battery for the components Microcontroller doesn't have enough capability to run fish adequately Redesign of fish body Have to buy more parts; hurts budget and schedule Need another or different battery Need to purchase another microcontroller Not knowing the space required before building the body Use corrosion resistance materials, this conflicts with budget Mechanical Engineer Shut off pumps when pressure is adequate instead of continuous Mechanical Engineer operation; possibly use variable speed components Make sure to analyize the structural components to accommodate the Mechanical Engineer forces experienced. Have simulations to confirm our analysis Make MSD fun Mechanical Engineer Minimize voltage present and isolate electrical system Determine space required for components before designing body Mechanical Engineer Mechanical Engineer Mishandling Careful handling; buying durable components Mechanical Engineer Improper battery and Make sure components are pump or motor compatible (and interchangeable) prior Mechanical Engineer combinations purchased to purchase Not enough prior analysis Determine size and capabilities to ensure microcontroller required of the microcontroller prior to Mechanical Engineer has sufficient capabilities purchase

41 RISK ASSESSMENT (3 OF 3) ID Risk Item Effect Cause Likelihood Severity Importance Action to Minimize Risk Owner Describe the risk briefly 23 Actuation fluid leaks 24 The fish cannot swim backwards What is the effect on any or all of the project deliverables if the cause actually happens? Causes a loss of power to the system preventing intended purpose Failure to complete a project goal What are the possible cause(s) of this risk? A rupture in the fluid membrane or faulty seals. The backwards motion may be too complicated or difficult to achieve with a give setup L*S What action(s) will you take (and by when) to prevent, reduce the impact of, or transfer the risk of this occurring? Who is responsible for following through on mitigation? Make sure we know the pressure limits of the fulid membrane and design in a way that prevents any Mechanical Engineer ruptures. We should also check seals to make sure they are in working order. Do research on different types of backwards swimming motion and Mechanical Engineer choose one that is the most feasible to our project.

42 SCHEDULE Schedule on Edge

43 QUESTIONS? CONCERNS? FEEDBACK?

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