Transcript Tiffany Card’s summer summary

Tiffany’s Summer
Summary
Tiffany Card, Summer 2003
RiSE Climbing Robot Project
Stanford University Biomimetics Lab
GumbyBot
http://wwwcdr.stanford.edu/twiki/bin/view/Main/Gum
Weight: 134g
byBot
•
• Materials
– body: wood
– legs: coated steel
clothesline
– joints: nylon bolts
– tail: Romex
• Strategies for robust joints:
– Filing, cleaning
– cross-pinning, crimping
– longitudinal filing,
increased surface area,
hooked end
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PartridgeThrust
• Relevance of past research
• Experiments and results
• Potential for future
investigation
• Conclusion: potential
contribution to scenarios
Relevance of past research
Wing-Assisted Incline Running and the
Evolution of Flight
Kenneth Dial (U of Montana)
• Use of wings to
increase climbing
ability
• Quantification of
mechanism!
• Coordination of foot
placement
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Relevance of past research
Micromechanical Flying Insect (MFI) Project
• Relevance
Ron Fearing (UC Berkeley)
– Research into complex
flapping motion to produce lift
– Development of 4-bar linkage
to mimic complex wing
movement (translational and
rotational)
• Difference
– Optimized on
micromechanical scale
– Used to generate constant,
vertical lift instead of
intermittent vectored thrust
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Relevance of past research
Microbat: A Palm-Sized Electrically Powered
Ornithopter
T. Nick Parnsin-Sirirak et. al (Caltech, UCLA,
• Relevance
AeroVironment)
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– Optimization of wing-mechanism
design: Transmission design, wing
and frame materials
– Use of MEMS manufacturing to
enhance repeatability, efficiency
• Difference
– Restricted to perpendicular flapping
motion
– Designed to weigh under 12.5g,
generates small thrust, not
maximally energy efficient (uses
DC to DC converter to ramp up
voltage)
Experiments and results
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• Mounted Propeller
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– Optimized by Moto based
on battery weight and
mounting bracket weight
and angle
– Artificial duct does not
eliminate vortices
• Interaction between thrust
and forward propulsion
– Compared to pull-back
motor alone, addition of
wings increases flat surface
velocity (1.72.5 m/s) and
max angle of ascension
(1934 degrees)
– Influence of thrust?
Experiments and results
Simplified case: duck on a
motorized unicycle
Simplified case: duck on a motorized
unicycle
Max friction force
Simplified case: duck on a motorized
unicycle
Sum of forces in xdirection
Potential for future
investigation
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• Dynamic force
variance over time
• Incorporation of MFIlike wings to generate
ground effects
Conclusion: potential
contribution to scenarios
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thanks!
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•Weight: 4,456.3 pounds
•Length: 3,578 feet