College - Author 1
College of Engineering
Department - Author 1
Mechanical Engineering Department
Degree Name - Author 1
BS in Mechanical Engineering
College - Author 2
College of Engineering
Department - Author 2
Mechanical Engineering Department
Degree - Author 2
BS in Mechanical Engineering
College - Author 3
College of Engineering
Department - Author 3
Mechanical Engineering Department
Degree - Author 3
BS in Mechanical Engineering
College - Author 4
College of Engineering
Department - Author 4
Mechanical Engineering Department
Degree - Author 4
BS in Mechanical Engineering
Date
6-2023
Primary Advisor
Peter Schuster, College of Engineering, Mechanical Engineering Department
Additional Advisors
Long Wang, College of Engineering, Civil Engineering Department
Abstract/Summary
For this project the team was tasked with designing a soft actuator that incorporated aspects of mechanical metamaterials. The team’s goal was to demonstrate the feasibility of structural metamaterials in the field of soft robotics and demonstrate a novel response with a final assembly. Also included in the team's discussion are the manufacturing steps, protype tests & results, and suggested future next steps. Following the previous report (critical design review) the team chose to follow the path of designing a continuum robot with metamaterials incorporated into the design. A continuum robot consists of a soft cylindrical body with rigid evenly placed plates and any number of actuating tendons. These tendons, when actuated, cause the plates to draw nearer to one another and the edges to bend to effectively create numerous possible degrees of freedom. To meet the primary goal of incorporating metamaterials the team designed multiple center-body and tip extension metamaterial segments. These segments were joined to the center-body via casting and other methods of joining. With these continuum bodies with different metamaterial inclusions, tests were conducted using a custom-built test stand. The test stand consists of four stepper motors, corresponding electronic microcontrollers and a system of pullies and guide-rods. The primary goal of achieving a unique and novel response with metamaterial inclusions was accomplished, however, full characterization of the test models was unable to be developed due to time constraints and component failures. Manufacturing methods and controller development took precedent in order to develop consistent models and testing for future work on the project.
URL: https://digitalcommons.calpoly.edu/mesp/721
Project Video
ME_S2023_PRJF13_Poster.pdf (1248 kB)
Project Poster
ME_S2023_PRJF13_SOW.pdf (846 kB)
Scope of Work
ME_S2023_PRJF13_PDR.pdf (2060 kB)
Preliminary Design Review
ME_S2023_PRJF13_CDR.pdf (1835 kB)
Critical Design Review
ME_S2023_PRJF13_Drawings.pdf (3188 kB)
Drawing Package