P14253: Underwater McKibben Muscle
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Project Information

Boeing: Underwater McKibben Muscle Robotic Arm [P14253]
Faculty Guide Primary Customer Sponsor Term
Rick Lux Dr. Lamkin-Kennard Boeing 2131-2133
public/Photo%20Gallery/Photos/Project_Summary_Logos.PNG

Project Summary

Robotic arms used in underwater applications allow users to interface with objects in depths far greater than the human body is capable of reaching. These robotic arms are used on unmanned underwater vehicles, which are employed by oil and gas companies and research organizations to interact with various objects in this high-pressure environment. Robotic arms should be able to function similarly to a human arm and have no negative effect on the surrounding environment. Current robotic arm designs utilize clamps, which lack the dexterity of hands and hydraulic cylinders, which if leaked, could harm the underwater environment.
The goals of this project are to analyze current hydraulic robotic arm designs and McKibben Muscle robotics to identify opportunities to make the arm more dexterous and eco-friendly. The expected end result is a functional prototype, which can be marketed to Boeing for further development and manufacture. The resulting design and prototype must adhere to Boeing engineering standards and any underwater vehicle standards that may apply.

YouTube - Final Demo

Example of Robotic Manipulator by Kraft Telerobotics

Example of Robotic Manipulator by Kraft Telerobotics

Rendering of Final Assembly

Rendering of Final Assembly

Winner of the 2014 Imagine RIT - Xerox Corporation Gold Sponsor Award

The Team

From left to right: Chris Jasinski, Will Fickenscher, Jared Warren, Joe Taddeo, Erika Mason

From left to right: Chris Jasinski, Will Fickenscher, Jared Warren, Joe Taddeo, Erika Mason

Member Discipline Role Contact
Will Fickenscher ME Project Manager; Hand Development; Controls wmf6615@rit.edu
Jared Warren ME Hand & Forearm Development; Pumps & Valves jcw8340@rit.edu
Joe Taddeo ME Torso & Arm Development jxt2538@rit.edu
Chris Jasinski ME Arm Development & Testing cxj3268@rit.edu
Erika Mason EE Controls Development eam4947@rit.edu

Table of Contents

MSD I MSD II

PRP

Photo Gallery

Planning & Execution

Problem Definition

Systems Design

Detailed Design

Project Review

Photo Gallery

Planning & Execution

Build, Test, Document

Project Review

Final Notes

Technical Paper

Poster

Acknowledgements

A very special thanks to Boeing, Kathleen Lamkin-Kennard, Rick Lux, Rob Kraynik, Jan Maneti, and the RIT ME machine shop staff for without their generous support this project would not have been possible.