Project Review

Table of Contents

MSD I

Preparation, notes, actions, etc.

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

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)