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Systems Design

Table of Contents 1 Benchmarking 2 Resources 3 Concept Development (generation, improvement, selection) 4 Functional Decomposition 5 Systems Architecture 6 Feasibility 7 Systems Design Review 8 Sub-Systems Design Review

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Benchmarking

Previous Air Muscle MSD Projects

• P13029 - Jumping Robotic Tiger
• P12029 - Biomimetic Robotic Ant
• P11029 - Biomimetic Crab
• P09023 - Air Muscle Artificial Limb Next Gen
• P08024 - Air Muscle Artificial Limb 2
• P08023 - Air Muscle Artificial Limb 1

Anthropomorphic Hands

• List of Top Anthropomorphic Hands

Control Glove Options

• Flex Sensor Glove
  • http://www.instructables.com/id/DIY-Robotic-Hand-Controlled-by-a-Glove-and-Arduino/?ALLSTEPS
  • http://inmoov.blogspot.com/

Current Competitive Products

• Arduino Robotic Hand
  • Haptic Feedback of Mechanical Hand 1
  • Haptic Feedback of Mechanical Hand 2
    • The hand has four fingers that are moved with electric motors. The control system is a glove with flexible resistors on it. When the user flexes their hand the robotic hand follows their motion. Force sensitive resistors are used on the robotic hands fingertips. When these force sensitive resistors are subjected to force they cause small electric vibrator motors on the user's fingertips to provide feedback.
• Autonomous Robotic Manipulation
  • A humanoid robot, with knuckles to provide proper dexterity. Photo 23 provides good view of knuckles.
• Barrett Technology CAD drawing for ARM robot
  • ARM manipulator with CAD models and drawings
• Beijing Institute of Technology Dextrous Hand
  • Research paper that discusses the development of a pneumatic dexterous hand
• Enhanced Design of a Pneumatic Artificial Muscle for Musculoskeletal Robot (PDF)

• Festo
  • Festo AirArm PDF
  • Festo Airic's Arm PDF
  • Festo Biomechatronic Footprint PDF
  • Festo Fluidic Muscle
  • Festo Fluidic Muscle PDF
  • Festo Humanoid Muscle-Robot PDF
  • Festo Power Gripper

• Hydraulic McKibben Muscle Research
  • Rubber McKibben Muscle Development

• iRobot
  • iRobot Packbot 510 Main Page
    • Packbot provides a good model for arm functionality, but the gripper has little dexterity.
• Kraft Telerobotics
  • Kraft Telerobotics- Current Product
  • Kraft Telerobotics manipulator types
    • Predator and Raptor are hydraulic, Viper is electric.
  • Kraft Telerobotics spec comparison
• Navy Project Using Sea Water as Hydraulic Working Fluid
  • The Navy experimented with using seawater as the working fluid to develop a new diver operated tool system. More than sixty hours of problem free operation were achieved during the concept testing.
• Open Hand Project
  • Open Hand Project
• Preliminary Design of an Anthropomorphic Dexterous Hand for a 2-Years-Old Humanoid: towards Cognition
• RE2
  • RE2 DS1-MA specs
    • DS1 is a basic arm with very poor dexterity. DM4 is larger with poor dexterity.
• Robot Shop air muscle information (PDF)
• Robotnik
  • Robotnik Underwater Electric Arm
• Shadow Robot Company
  • Shadow Robot Air Muscles
  • Shadow Robot Dexterous Hand
    • McKibben Muscle human-like hand, with great dexterity
  • More Extensive Data Sheet of Shadow Hand

Comparison to Competitors

Benchmarking Comparison

Resources

ANSYS Tutorials

Concept Development (generation, improvement, selection)

Concept Generation

Concept Selection Excel

Functional Decomposition

Functional Decomposition

Systems Architecture

Feasibility

Systems Design Review

Systems Design Review Presentation

Sub-Systems Design Review

Sub-Systems Design Review Presentation

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