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The Tendril SURE 2006

The Tendril SURE 2006. Matthew Bennink Advisor: Dr. Ian Walker. Overview. Intro. to Robotics NASA’s Tendril Robot Problems My Work Results Discussion Conclusions. Intro. To Robotics. Robotics – the science and technology of robots, their design, manufacture, and application.

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The Tendril SURE 2006

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  1. The TendrilSURE 2006 Matthew Bennink Advisor: Dr. Ian Walker

  2. Overview • Intro. to Robotics • NASA’s Tendril Robot • Problems • My Work • Results • Discussion • Conclusions

  3. Intro. To Robotics • Robotics – the science and technology of robots, their design, manufacture, and application. • Kinematics – relationship between joint (internal) variables and task (external) variables, at position andvelocity levels.

  4. Tendril Inspiration • Biology • Medical Equipment

  5. NASA’s Tendril • Length : 1m • Diameter : 1cm • 8 External Motors

  6. NASA’s Early Kinematics • Tip Joint • M3 = Pitch • M4 = -Yaw • Upper Joint • M1 = .7 Yaw - .7 Pitch • M2 = .7 Yaw + .7 Pitch

  7. NASA’s Kinematics • Tip Joint • M3 = Elev cos(Az) • M4 = Elev sin(Az) Az = Az + Azoff Elev = (1 + Kboost) Elev

  8. NASA’s Results • Tip can be reliably pointed +/- 30 deg • Upper joint is commanded directly • Pass through extend and rotate commands.

  9. Problems • Kinematics • Gravity • Coupling • Twist • Size

  10. My Work • Visit to Johnson Space Center • Assembly of Clemson’s Tendril • Simple Control • Tendril in Motion

  11. 23 threaded links and springs. Teflon tubing Spectra fishing line Assembly

  12. Assembly

  13. Control

  14. Conclusions • Hardware • Some problems as a result of springs. • Tension with tendons is also problem. • Software • QMotor is sufficient. • Algorithms are easily implemented. • We have a Tendril.

  15. Acknowledgements • Dr. Ian Walker • Dr Noneaker & Dr. Xu • Matt, Martha, David, & Vilas

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