part7

Information about part7

Published on January 7, 2008

Author: Isab

Source: authorstream.com

Content

Slide1:  Robot Fabrication Shape Deposition Manufacturing:  Shape Deposition Manufacturing Add and Remove material – relatively arbitrary geometries Mill accuracy for external and internal surfaces Deposit (part) Shape SDM Process:  SDM Process Can also embed components Pressure Transducer SDM Process:  SDM Process Can spatially vary material properties – within and between layers SDM Process:  SDM Process Material Properties and Database Material Considerations cdr.stanford.edu /biomimetics/sdm.html Machinability Minimal shrinkage Bonds to self Low viscosity Low curing temperature Strength/stiffness State of the Art – Sept. 1999:  State of the Art – Sept. 1999 Manufacturing Embedded components Multiple-materials State of the Art - Sept. 1999:  State of the Art - Sept. 1999 Robot prototypes – Old Sprawl Passive compliant hips Walks well No control of direction or amount of compliance Ad hoc construction – No SDM Goal for Aug. 2000 – SDM Robot:  Goal for Aug. 2000 – SDM Robot Compliant hip Feedforward Alternating tripod Stable running Obstacle traversal SDM Robots:  SDM Robots 1st SDM leg Limited control of amount and direction of compliance Imbedded connectors and piston Reproducible, but non-functional design SDM Robots:  SDM Robots 1DOF leg One primary direction of compliance Works very well, robust Currently investigating the effect of varying compliance SDM Robots:  SDM Robots 2 DOF legs Linear and Rotational DOFs Can independently control direction and amount of compliance Spatial 4-bar Mechanism:  Spatial 4-bar Mechanism SDM Process Planning:  SDM Process Planning Current Work:  Current Work Modular Compliance Can manually swap flex segments 10 different levels Is being used to test the effects of varying the stiffness of the leg Current Work:  Current Work Modular Bodies Can manually swap Servo Motors and Valves Embedded electronic backbone Robust packaging Future Work:  Future Work Foot Design Design feet for optimal ground contact Embed contact/force sensors into legs Feed back for adaptation Jorge failed feet

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