logging in or signing up part7 Isab Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 136 Category: Education License: All Rights Reserved Like it (0) Dislike it (0) Added: January 07, 2008 This Presentation is Public Favorites: 0 Presentation Description No description available. Comments Posting comment... Premium member Presentation Transcript Slide1: Robot FabricationShape Deposition Manufacturing: Shape Deposition Manufacturing Add and Remove material – relatively arbitrary geometries Mill accuracy for external and internal surfaces Deposit (part) ShapeSDM Process: SDM Process Can also embed components Pressure TransducerSDM 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-materialsState 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 SDMGoal for Aug. 2000 – SDM Robot: Goal for Aug. 2000 – SDM Robot Compliant hip Feedforward Alternating tripod Stable running Obstacle traversalSDM Robots: SDM Robots 1st SDM leg Limited control of amount and direction of compliance Imbedded connectors and piston Reproducible, but non-functional designSDM Robots: SDM Robots 1DOF leg One primary direction of compliance Works very well, robust Currently investigating the effect of varying complianceSDM Robots: SDM Robots 2 DOF legs Linear and Rotational DOFs Can independently control direction and amount of complianceSpatial 4-bar Mechanism: Spatial 4-bar MechanismSDM Process Planning: SDM Process PlanningCurrent 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 legCurrent Work: Current Work Modular Bodies Can manually swap Servo Motors and Valves Embedded electronic backbone Robust packagingFuture Work: Future Work Foot Design Design feet for optimal ground contact Embed contact/force sensors into legs Feed back for adaptation Jorge failed feet You do not have the permission to view this presentation. In order to view it, please contact the author of the presentation.
part7 Isab Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINTLite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 136 Category: Education License: All Rights Reserved Like it (0) Dislike it (0) Added: January 07, 2008 This Presentation is Public Favorites: 0 Presentation Description No description available. Comments Posting comment... Premium member Presentation Transcript Slide1: Robot FabricationShape Deposition Manufacturing: Shape Deposition Manufacturing Add and Remove material – relatively arbitrary geometries Mill accuracy for external and internal surfaces Deposit (part) ShapeSDM Process: SDM Process Can also embed components Pressure TransducerSDM 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-materialsState 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 SDMGoal for Aug. 2000 – SDM Robot: Goal for Aug. 2000 – SDM Robot Compliant hip Feedforward Alternating tripod Stable running Obstacle traversalSDM Robots: SDM Robots 1st SDM leg Limited control of amount and direction of compliance Imbedded connectors and piston Reproducible, but non-functional designSDM Robots: SDM Robots 1DOF leg One primary direction of compliance Works very well, robust Currently investigating the effect of varying complianceSDM Robots: SDM Robots 2 DOF legs Linear and Rotational DOFs Can independently control direction and amount of complianceSpatial 4-bar Mechanism: Spatial 4-bar MechanismSDM Process Planning: SDM Process PlanningCurrent 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 legCurrent Work: Current Work Modular Bodies Can manually swap Servo Motors and Valves Embedded electronic backbone Robust packagingFuture Work: Future Work Foot Design Design feet for optimal ground contact Embed contact/force sensors into legs Feed back for adaptation Jorge failed feet