- Step 1: Functional Requirements. Design a mechanism that meets the following requirements:
- Autonomously travels climbs up the pegboard wall displayed in the lab. The CAD files for the pegboard wall are given here.
- is bio-inspired. This must be clear! Good examples in the past were centipedes, inchworms, sloths, ants, and scorpions. This is very open ended.
- Has the ability to be disassembled. That is, all servos and electronics must be capable of being disassembled. No glue on servos, servo horns, or electronics. And no tape!
- Step 2: Generate Solutions. Identify at least two animals that meet your functional requirements. For each animal, sketch by hand a solution that might meet the functional requirements. These should be done using the isometric sketching techniques we covered in class. Be sure to identify any key features of the designs.
- Step 3: Analysis
- Draw a Hildebrand Gait plot for at least one possible gait for each of your two designs.
- Complete this worksheet, which will help you formulate the free body diagrams for your particular design.
- Identify the force and torque requirements for the actuators. To do this, you need to create free body diagrams for each design.
- Keep it simple!
- I have purchased 1/8" MDF for this assignment. You are free to use other materials, but this is the only material that will be made available to you.
- I have also purchased the following shoulder screws from McMaster: 93897A238, 93897A256, 93897A265, 93897A273, 93897A281. You will find them in the CAD package above
- Excess mass is going to be a major issue. A heavy robot won't climb. Be sure to use your lightweighting techniques. Keep it small! There is little to no need for a large device. The servos are not strong enough to move a large device.
- It is impossible, yes impossible, to have multiple continuous servos match their speed. Do not design a system that uses multiple continuous servos. There will be nothing but problems.
- 2 hand sketches
- 2 Hildebrand Gait Plots
- Analysis of static stability (worksheet)
- Analysis for torque measurements.
- become more proficient at hand sketching
- apply static force and moment analysis to an open-ended problem
- solve an open-ended design problem that has many "right" answers
- understand the bio-inspired design process
- understand the importance of removing unnecessary material: light-weighting
- learn about animal gaits