design of a variably compliant leg using shape deposition
TRANSCRIPT
Design of a Variably Compliant Leg Using Design of a Variably Compliant Leg Using Shape Deposition ManufacturingShape Deposition Manufacturing
Viktor OrekhovTennessee Tech University
Cookeville, TN
SUNFEST 2007University of Pennsylvania
August 10, 2007
August 10 , 2007 Slide 2/12
Energetics
Stability
Robustness
ComplianceCompliance
Lessons from Nature
Passive Leg Control
Variable Stiffness
Control and Communication
Sensors
Position Control
Motor
Gearing
Flex Sensor
Rotary Pot
PICMicrocontroller
IRDA
August 10 , 2007 Slide 3/12
Design ChallengeDesign Challenge
Shape Deposition Shape Deposition ManufacturingManufacturing
Layered Prototyping Technique
Complex Designs
Multiple Materials
Embedded components
(Cham 1999)
August 10 , 2007 Slide 4/12
Leg DesignLeg Design
August 10 , 2007 Slide 5/12
Geared Slider Flex Sensor
Motor
Rotary Pot
Circuit Board
Battery
IRDA
Slider ActuationSlider Actuation
August 10 , 2007 Slide 6/12
Motor Insert
Pot Shaft
SlidersSliders
August 10 , 2007 Slide 7/12
Original
Nylon Rack
Laser Cut
SDM
Press Fit Design
Symmetric Stops
ElectronicsElectronics
August 10 , 2007 Slide 8/12
Flex SensorResistance vs. Deflection
12.9
13.4
13.9
14.4
14.9
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Deflection (mm)R
esis
tanc
e (K
ilohm
)
SDM AnimationSDM Animation
August 10 , 2007 Slide 9/12
Final ProductFinal Product
August 10 , 2007 Slide 10/12
AcknowledgmentsAcknowledgments
August 10 , 2007 Slide 11/12
Dr. Dan Koditschek
Dr. Jonathan Clark
Kevin Galloway
Sam Russem
Mulea Bereketab
QuestionsQuestions
August 10 , 2007 Slide 12/12