Robotic Grasper Members Michelle Acosta Hiram Do Brendon Jacinto Leo Li Romyl Lopez Christopher...
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Transcript of Robotic Grasper Members Michelle Acosta Hiram Do Brendon Jacinto Leo Li Romyl Lopez Christopher...
Robotic GrasperMembers
Michelle Acosta
Hiram Do
Brendon Jacinto
Leo Li
Romyl Lopez
Christopher Nguyen
Ka Ho So
Faculty Advisor: Aaron Ohta
IntroductionWhat is the Robotic Grasper?
Hybrid between robotics and soft robotics
Improvement for handling materials
Mechanical analog of the human hand
Main Goals
Make Robotic Grasper fully autonomous
Attach the PDMS Grippers onto arm
Programming linear actuator
Ethical IssuesMedical
Robotic surgeries
Ethical issues arise when problems occur
Balance autonomy and human control
Labor
Human workers vs Robot workers
Robots could be cheaper in the long run
Human workers lose out
Environmental ImpactsPolydimethylsiloxane (PDMS) is a type of silicone
Used in our air chambers
No harmful effects on organisms in the environment
According to Ullmann’s Encyclopedia of Industrial Chemistry
Bisphenol A is a synthetic compound
Used in Lexan components of Robotic Grasper
National Institutes of Health and Food and Drug Administration concerns
Potential effects on young children
Disposal of grasper and keep away from children as a precaution
Objectives
Automatizing the GrasperProgramming grasper to move and pick up objects
How? FlowBotics Studio
What is FlowBotics? Gives visual representation of module
A program that can use images as “code”
Actions based on graphical images
Graphical images are recorded and performed
Controllable Airflow
Using Linear Actuators
What are Linear Actuators? Creates motion in a straight line
Purpose Applies force onto syringe
Syringe pumps air into gripper
Gripper inflates/deflates
Designing a suitable GripperDesigning a mold Creates mold for the Gripper
Using PDMS to fill mold What is PDMS?
PDMS (a.k.a Polydimethylsiloxane) Silicone based organic polymer
Characteristics of PDMS Clear, inert, non-toxic, and non-flammable Soft, rubbery, and elastic
Design and Fabrication
Dimensions of GripperDimensions of Gripper Pad Height: 4.0 mm
Length: 27.0 mm
Width: 19.0 mm
Basic Idea Dimensions used for design
Original gripper on grasper
Gripper ComponentsBase Ceiling
Base Mold Design #1
Outer DimensionsTop View
Dimensions Outer Length: 31.0 mm
Outer Width: 27.0 mm
Inner Length: 23.0 mm
Inner Width: 19.0 mm
Design Concept Even distribution of air
Simple design
Chamber Mold Dimensions
Inner View (Pillars)
Dimensions Length: 2.5 mm
Width: 2.5 mm
Distance between Pillars: 2.5 mm
Inner Height: 3.0 mm
Pillar Height: 2.0 mm
Ceiling Design #1
Ceiling DimensionsOuter Dimensions Length: 31.0 mm
Width: 23.0 mm
Height: 2.0 mm
Inner Dimensions Length: 27.0 mm
Width: 19.0 mm
Height: 1.0 mm
Base Mold Design #2
Outer DimensionsTop View
Dimensions Outer Length: 31.0 mm
Outer Width: 27.0 mm
Inner Length: 23.0 mm
Inner Width: 19.0 mm
Design Concept Utilizing larger surface area
Larger chambers
Ceiling Design #2
Ceiling DimensionsOuter Dimensions Length: 31.0 mm
Width: 23.0 mm
Height: 3.0 mm
Inner Dimensions Length: 27.0 mm
Width: 19.0 mm
Height: 1.0 mm
Center Slot Dimensions
Outer Dimensions Length: ~5.0 mm
Width: ~3.4 mm
Height: 1.0 mm
Purpose Allows air flow into chambers
Prevents center from inflating
Base and Ceiling Result #1
Base and Ceiling Result #2
Base and Ceiling Combined
Experimental Results
Expansion Results
Advantages and Disadvantages Advantages
Hard and soft robotics
Firm and cushioned grip
Polydimethylsiloxane (PDMS) Pads
Thickness creates soft area
Equal distribution of air
Robotic Arm
Easy to assemble
Software available for use
Disadvantages
Limited to small objects
Gripper size and capability
Weight constraints
Servo limitations
Manual Control
Follows preset patterns, manual inflating
Polydimethylsiloxane (PDMS) pads
Non-recyclable, susceptible to cuts
Conclusion
Goals and ObjectivesDid we reach our main goals?
Not quite, but almost there
Did we reach our objectives?
Still needs to be automatized
Able to design suitable grippers
Found a way to control air flow
Future Goals
Fully autonomous
Program linear actuator
Attach grippers onto grasper