2. Overview Project Goals Background & Motivation Importance Design Process Design Features Results

3. Project Goals Prove feasibility of underwater applications of hydraulically driven McKibben muscles Design and build a fully submersible robotic platform powered by McKibben muscles Execute realistic fish motion with a fish-like appearance

4. Background: What’s a McKibben Muscle? A fluid-powered muscle Braided sheath and soft rubber tubing Imagine inflating a “Chinese finger-trap.” Pressurized Fluid

5. Why are they Important? Seen as a future stakeholder in several technologies – Artificial muscles – Soft robotics – Ideal for underwater applications, can use surrounding fluid Increased visibility and demonstration of their capabilities advances them toward other applications

6. Design Process

7. A formal design and documentation process was used to efficiently translate needs into requirements and ultimately into the final prototype. System Level Design Requirements, project plan Concepts, architecture, feasibility Critical subsystems and analysis Design with Bill of Materials, test plan Implement design, evaluate and refine Problem Definition and Planning Subsystem Level Design Detailed Design Build, Test, and Integrate Final Product

8. Design Features

9. Watertight acrylic enclosure Controls – Arduino Mega, lithium polymer batteries, associated circuitry – Water leakage and over-temperature sensors – Control via Bluetooth communication with smartphone app Fluid system – Internal centrifugal pump – Solenoid valve bank – Hydraulic muscles Motion parameters based on body-caudal type locomotion Appearance – Composite fiberglass shell with realistic paint-job – Rubberized Spandex/Lycra fabric as tail skin

10. Results Short segment of video(s)

11. Results Very realistic, successful, and inexpensive prototype – Final cost was _____ (see note below) Finished ahead of schedule (Imagine RIT festival). Went beyond customer requirements with the addition of Bluetooth communication.

12. Acknowledgements This project would not have been possible without help and guidance from many individuals. Special thanks to: Dr. Kathleen Lamkin-Kennard Rick Lux Dave Hathaway, Rob Kraynik, and the ME Machine Shop Kwadwo Opong Mensah John Bonzo and the Brinkman Lab

13. References [1] [2] …