P14253: Underwater McKibben Muscle
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Detailed Design

Table of Contents

Prototyping, Engineering Analysis, Simulation

Rapid Prototype Finger Actuation

Rapid Prototype Finger Actuation

Rapid Prototype Finger Grabbing a Scredriver

Rapid Prototype Finger Grabbing a Scredriver

Drawings, Schematics, Flow Charts, Simulations

Forearm Assembly

Forearm Assembly

Hand Assembly & Cable Routing

Hand Assembly & Cable Routing

Back of Hand Assembly

Back of Hand Assembly

Comparison of Finger Design to Beijing's Finger

Comparison of Finger Design to Beijing's Finger

Cable Tensioning Design

Cable Tensioning Design

Bill of Material (BOM)

BOM Spreadsheet

Test Plans

Example of Test Plan Documentation

Example of Test Plan Documentation

Test Plans

Risk Assessment

Top Mechanical Risks

Top Mechanical Risks

Risk Management Document

Design Reviews

Detailed Design Review Presentation

DDR Action Items

Arm

  1. Create the FBD with weight fully extended to make sure base wont tip. Add length to the base members or add a counterweight behind the base.
  2. Make sure base members are single beams so they don't bend.
  3. Round elbow joints to make sure there is no shear points.
  4. Fix elbow cabling holes so actions results in opposite rotation.
  5. Add the channel in the pulley so the cable does not slip off.
  6. Determine length of muscles needed for arm rotation

Controls

  1. Nail down number of flex resistors needed. Are we going with feedback on position for the fingers?
  2. Wiring view for Rick.

Valves

  1. Test Spool valves to prove feasibility with water. If they do not work then move towards 2-way direct acting poppet valves

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