2.  Consultant ◦ Mike Zona (Xerox)  Sponsor ◦ Dr. Lamkin-Kennard Chris Anderson, Jon Gibson, Kurt Stratton, Josh Koelle

3.  Project Definition  Legacy Projects  McKibben Muscle Information  Ant Locomotion Information  Customer Needs  Engineering Specs Introduction  House of Quality  Weighted Engineering Specs  Function Decomposition  System Interaction  Walking Logic  Morphological Charts  Mechanism Idea  Pugh Charts  Risk Assessment  Schedule

4.  The mission of the Robo Ant team is to design and build a biomimetic ant capable of movement via a self-contained air muscle system.  This Ant will utilize the McKibben Air Muscle technology.

5.  P 08023/08024 – Artificial Limb I/II  P 09023 – Artificial Limb III (Monster Hand)  P 10029 - Process Development for Air Muscles  P 11029 – Biomimetic Crab  Robo Ant should Build off these previous projects learning's  Parts are available from previous projects for us to use

6.  First developed in the 1950’s  Constructed of surgical tubing surrounded by wire sleeving.  When the tubing is inflated, the sleeving contracts. http://www.anupamtimes.com/2010/03/robotic- arms-biorobotics.html

7.  Long history at RIT, data on senior design projects since 2007-2008 school year.  All groups research and findings have been well documented.  Muscle selection will be based on historic data  Theoretical equations exist as outlined by Chou and Hannaford in Measurement and Modeling of McKibben Pneumatic Artificial Muscles

10. Ant Locomotion  Tripod Layout  Ant Cadence http://www.clker.com/clipart- 11220.html Real-time control of walking By Marc D. Donner

11.  Tripod Layout  The ant’s use of a tripod cadence allows for simplifications in our design: ◦ Possible reduction in number of McKibben air muscles ◦ Simplification in logic Ant Locomotion http://www.clker.com/clipart- 11220.html

12. Importance:1= Lowest, 9 = Highest

19. Battery Power Runs Compressor Compressor Creates Compressed Air Energy Compressed Air is Converted to Motion McKibben Air Muscles and Cables Moves Each Leg Mechanism Leg Mechanisms (6) Move in Specific Pattern LabView Control Panel Sends a Digital Output Output Causes A Specific Change in the Solenoid Valves Ant Moves Forward

23.  This is the option that the team has deemed the most viable ◦ Only option that is currently fully functional  2 DOF leg  Motions can be linked to reduce number of muscles

31. Thank you for your time and support.