Tiffany’s Summer Summary Tiffany Card, Summer 2003 RiSE Climbing Robot Project Stanford University Biomimetics Lab

GumbyBot http://www-cdr.stanford.edu/twiki/bin/view/Main/GumbyBot Weight: 134g Materials body: wood legs: coated steel clothesline joints: nylon bolts tail: Romex Strategies for robust joints: Filing, cleaning cross-pinning, crimping longitudinal filing, increased surface area, hooked end

PartridgeThrust Relevance of past research Experiments and results Potential for future investigation Conclusion: potential contribution to scenarios

Relevance of past research Wing-Assisted Incline Running and the Evolution of Flight Kenneth Dial (U of Montana) Use of wings to increase climbing ability Quantification of mechanism! Coordination of foot placement

Relevance of past research Micromechanical Flying Insect (MFI) Project Ron Fearing (UC Berkeley) Research into complex flapping motion to produce lift Development of 4-bar linkage to mimic complex wing movement (translational and rotational) Difference Optimized on micromechanical scale Used to generate constant, vertical lift instead of intermittent vectored thrust

Relevance of past research Microbat: A Palm-Sized Electrically Powered Ornithopter T. Nick Parnsin-Sirirak et. al (Caltech, UCLA, AeroVironment) Relevance Optimization of wing-mechanism design: Transmission design, wing and frame materials Use of MEMS manufacturing to enhance repeatability, efficiency Difference Restricted to perpendicular flapping motion Designed to weigh under 12.5g, generates small thrust, not maximally energy efficient (uses DC to DC converter to ramp up voltage)

Experiments and results Mounted Propeller Optimized by Moto based on battery weight and mounting bracket weight and angle Artificial duct does not eliminate vortices Interaction between thrust and forward propulsion Compared to pull-back motor alone, addition of wings increases flat surface velocity (1.72.5 m/s) and max angle of ascension (1934 degrees) Influence of thrust?

Experiments and results Simplified case: duck on a motorized unicycle

Simplified case: duck on a motorized unicycle Max friction force

Simplified case: duck on a motorized unicycle Sum of forces in x-direction

Potential for future investigation Dynamic force variance over time Incorporation of MFI-like wings to generate ground effects

Conclusion: potential contribution to scenarios

thanks! Weight: 4,456.3 pounds Length: 3,578 feet