Table of Contents
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MSD I
Preparation, notes, actions, etc.MSD II
Notable Observations
- Muscles exceeded initial strength calculations using equations from previous projects
- Higher pressure pump found to create more force with muscle
- Pump must be purged of water before starting (remove hose that connects pump to valves and run)
- Opposing Muscles created slack in the wire
- We found the proper technique to tension the muscles(fully fire one muscle then tighten connections)
- No leaks were found in the system
- Arm valves hold pressure on muscles
- Multiple arm motions can occur at once (slower actuation)
- Muscles with initial mesh found to fail after a couple hundred cycles
- Tight weave mesh used on final muscles. No fatigue life has been established based on several thousands of cycles
- Common muscle mount and common sized muscle fitting allow muscle sizes(width) and lengths to be quickly and easily changed
- Visible inspection shows no corrosion after multiple underwater test runs
Further Improvements
- Another motion can be added at the shoulder with relatively little work. We removed this aspect of design due to budget/time constraints. Opposing muscles can be mounted on the torso and bowden cables can transmit the force to a pulley attached to the upper arm rod.
- More forearm roll could add functionality. A smaller pulley and/or longer muscles can add to the range of motion. A smaller pulley may cause the wire to pinch as it requires a minimum bend radius
- Controls for the arm could be improved. (ie. A sleeve controller to match the hand’s glove controller. Feedback sensors and considerable time/money needed for this)
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