Project DefinitionThis project is the next in a line of projects using McKibben muscles, and is intended to develop additional biomimetic robotic capabilities for the Lamkin-Kennard laboratory using soft pneumatic actuators. Specifically, 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.
Additionally, the result of the project, a robotic fish, could be used for exploration, surveillance, or research purposes to study underwater propulsion.
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.
The Week 3 presentation of the Problem Definition phase can be seen here.
Customer RequirementsCustomer needs were determined after an interview with Dr. Lamkin-Kennard.
Engineering SpecificationsThe engineering requirements were derived from the customer requirements as shown below.
House of Quality (HOQ)
A House of Quality was also constructed to shown the relations between the customers needs and which engineering specs were addressing them.
Project Goals and Key Deliverables
The projected goal of the project is a robotic fish capable of swimming forward, backward, and turning, with as near a fish-like appearance as possible. Key deliverable are shown below.
Benchmarking & Research
Similar projects found in the literature for benchmarking purposes are shown below.
Project Definition ReviewThe powerpoint presentation for the Week 3 Project Definition Review can be seen here.
Here are the resulting action items.
Table of Contents MSD I Home
Table of Contents MSD II Home
|Subsystem Level Prep||Subsystem Level Build & Test||Subsystem & System Level Build, Test, Integrate||Systems Level Build, Test, Integrate||Verification & Demonstration of Results|
|MSD - The Postseason|