Project Manager: Zachary Novak Mechanical Design Lead: John
Chiu Lead Engineer: Seaver Wrisley Controls and Instrumentation
Lead: Felix Liu Team P14029: McKibben Muscle Robotic Fish
Slide 2
AGENDA Project Goal Overall Concept System Breakdown Head &
Tail Frame Construction Orientation System Foam Contours and Skin
Muscles & Actuation Pressurization & Flow Diagram
Electronics & Power Supply Solenoids Preliminary
Microcontroller Logic MSDII Test Plan Feasibility Testing BOM &
Budget Risk Assessment and MSDII Preliminary Schedule
Slide 3
PROJECT GOAL Use McKibben muscles to power a robotic fish
Slide 4
OVERALL CONCEPT Morphological Analysis and Concept Selection
resulted in: An untethered fish controlled by a microcontroller
(Arduino) with onboard power and fluid pressurization An acrylic
box in the head housing the electronics and pump Arduino, water
pump, and solenoid valves controlling the flow of water Muscles in
the head actuating tail segments via fishing line cord Passive air
bladders and weights to control buoyancy, pitch, and possibly
roll
Slide 5
INTERNAL SYSTEM OVERVIEW
Slide 6
SUBSYSTEMS Frame Head Tail Locomotion System Linkages Muscles
Actuation System Pump Solenoids & manifold Plumbing Electrical
System Microcontroller Batteries Shields Sensors Orientation System
Air Bladders Appearance Foam Skin