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Bioinspired Robot Part 1
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Next Assignment: Biosinspired Robot Part 2
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- Step 1: Functional Requirements. Design a mechanism that meets the following requirements:
- SPECIAL 2020 INSTRUCTIONS --- Autonomously traverses 10 m down and back ---or---Autonomously travels climbs up the pegboard wall displayed in the lab. The CAD files for the pegboard wall are given here. Bonus points given for the climbing project.
- 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! You can alter the servo horns as much as you like. you can screw into them as needed, but the servos must be returned for future classes in good working condition
- SPECIAL 2020 INSTRUCTIONS --- Autonomously traverses 10 m down and back ---or---Autonomously travels climbs up the pegboard wall displayed in the lab. The CAD files for the pegboard wall are given here. Bonus points given for the climbing project.
- 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. (Climbing robots only).
- Identify the force and torque requirements for the actuators. To do this, you need to create free body diagrams for each design.
- Draw a Hildebrand Gait plot for at least one possible gait for each of your two designs.
Hints
- 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. A heavy walking robot will sag under its own weight. 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. They will look great for a few gait cycles and then slowly go out of phase, causing your robot to slowly veer off the path or fall off the wall.
Grading
4 points
- 2 hand sketches
- 2 Hildebrand Gait Plots
- Analysis of static stability (worksheet)
- Analysis for torque measurements.
Educational Goals
- 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