Title: Main ideas:
1Main ideas
- Use novel layered prototypingmethods to create
compliant biomimetic structures with embedded
sensors and actuators (Cutkosky, Kenny, Full) - Develop biomimetic actuation and control schemes
that exploit preflexes and reflexes for robust
locomotion and manipulation (Kazerooni, Howe,
Shadmehr, Cutkosky)
2Building small robot legs with pre-fabricated
components is difficult...
Boadicea leg
Electric motor/link
3 Concept design for a biomimetic Insect-Leg
A prototype design of the same leg employing
three-dimensional plastic exoskeleton
surrounding with embedded actuators, sensor and
cooling system.
4Shape Deposition Manufacturing(SU/CMU)
5SDM allows finished parts to be inserted at any
point in the cycle
Green link and red bearings are added as finished
components
6SDM capabilities
- Slides and web pages of parts that would be
difficult or impossible to create using
conventional manufacturing methods - Topology that would be almost impossible with
conventional machining tilted frame
(CMU/Stanford) - Integrated assembly of polymers with embedded
electronics and interconnects (CMU Frog Man) - other example parts from RPL at Stanford
7MicroStructures and Sensors Lab (MSSL)
Kenny
- Research on Fundamental Properties and
Applications of MEMS-based MicroMechanical
Devices. - Micromechanical Sensors.
- Micromechanical Elements for Scientific and
Technological Collaboration Partners. - Devices and Instruments for Studies of
Fundamental Properties of Micromechanical
Structures. - Collaborators IBM, JPL, NRL, SNL, SAIC,
Medtronic, Raychem, Lucas, Seagate,
Perkin-Elmer... - Students from ME, EE, Appl Phys, A/A
Piezoresistive Lateral Accelerometer
2-Axis AFM Cantilevers for Surface Friction
Experiments and Thermomechanical Data Storage
Flow Visualization in Microchannels
Ultrathin Cantilevers for attoNewton Force
Detection
8Embedded SMA actuators
- Intial experiments with epoxy and urethane
polymers and various sacrificial
supportmaterials have underscored the need
tobuild in disposable fixtures for proper
alignment.
Shape Memory Alloy wire with water cooling
channels
Epoxy
acrylic
9Approaches to design with layered shape
manufacturing
Usually people think of taking a finished CAD
model and submitting it for decomposition and
manufacture
Example the slider-crank mechanism, an
integrated assembly built by SDM
10SDM process planning geometric decomposition for
tool access
build direction
Cross section of part material (gray) in support
material
11Decomposition into compacts and layers
- Several levels of decomposition are required
Complete Part
Compacts
Layers
Tool Path
12Testing for compactness
Z
There exists no point, p, on S which is an
inflection point with an undercut surface above
an upward-facing surface.
13Layers produced by automatic decomposer for
slider crank mechanism
Gray steel, brown copper support material
14Layered shape deposition - potential
manufacturing problems
- finite thickness of support material
- poor finish on un-machined surfaces
- warping and internal stresses
15Slider crank can be built entirely from two kinds
of primitives
Yellow part material, blue support material
16Merge algorithm for compacts (Binnard)
f (a,b )
17Truth tables for Boolean operations on compact
lists
P part material S support material c f (a,b)
18Building Designs from Primitives
- Here is the result of building slider-crank from
primitives - allows manufacturability analysis at design time
19Building a robot joint from a library of shapes
20Design for a prototype pneumatic knee joint built
from primitives (M. Binnard)
Magnetic Gear Tooth Sensor
Pneumatic Actuator
Link 1
Link 2
21Comparison with VLSI approach
SFF-MEMS
VLSI
Boxes, Circles, Polygons and Wires
Decomposed Features
SFF-MEMS Design Rules
Mead-Conway Design Rules