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Feb 20, 2023 •208 likes •576 views

IDEALAB Integrating Design, Engineering, and Analysis Dan Aukes Assistant Professor The Polytechnic School Arizona State University General Observation about Robot Design Incendiary Idea: ANYONE can design robots (they just need the right

  1. IDEALAB Integrating Design, Engineering, and Analysis Dan Aukes Assistant Professor The Polytechnic School Arizona State University

  2. General Observation about Robot Design

  3. Incendiary Idea: ANYONE can design robots (they just need the right tools)

  4. What do I mean?

  5. I believe in the designer • Even if they don’t know the details of what they’re doing • Novices are generally bad at saying what they want • Human guidance, intuition helps cut through NP-complexity Jason was wrong earlier this morning

  6. Design for the Novice • What if you could • Simulation “feel” how stiff your • Kinematics & Dynamics new robotic leg • FEA design is before you make it? • Optimization • What if your robot’s • Interaction geometry optimized • Haptics itself to walk better? • Virtual Reality • Wearable Devices

  7. VRClay

  8. What’s Needed • Make it intuitive to • Interaction design robots • Prototyping • Applications: • Bring expert designs to novices • STEM Education • New Manufacturing • Give early meaning • Rapid Prototyping to designs • Manufacturing • Analysis

  9. Minimalism by modularity • Modular building blocks • Connections & Interfaces • Joints • Electrical Springs, Dampers, Masses Mechanical • • Actuators To off-the-shelf components • •

  10. Minimilasim via Underactuation

  11. ARM-H Application

  12. Dynamic Simulation in Robot Design • Dynamic Test • Prescribed-Position • Prescribed-Force • Kinematics • Kinematics • Kinematics • Transmission • Transmission • Transmission • Finger Shape • Finger Shape • Finger Shape • Object Shape • Object Shape • Object Shape • Friction • Friction • Friction • Mass & Time • Mass & Time • Mass & Time • Full Workspace • Full Workspace • Full Workspace

  13. Locked vs. Unlocked

  14. Design Variations & Performance

  15. Minimality in Representation

  16. popupCAD

  17. Cutting Flexible Adhesive Structural

  18. Stacking and Curing Temperature Pressure Time

  19. Release

  20. Unfold

  21. Layered Operations using Constructive Solid Geometry(CSG) D. M. Aukes, B. Goldberg, M. R. Cutkosky, and R. J. Wood, Smart Mater. Struct. , 2014.

  22. Other Operations D. M. Aukes, B. Goldberg, M. R. Cutkosky, and R. J. Wood, Smart Mater. Struct. , 2014.

  23. popupCAD Designs

  24. Several New Tools • Abstracting the Design Process from the geometry • Dynamic Simulation: • Understand ideal rigid body motion • FEA-based stiffness analysis • Understand non- ideal bending of “rigid” links

  25. Abstracting processes Union Difference - Union

  26. New Dynamics System • Written in Python • Symbolic expressions using Sympy • Kane’s Method for generating equtions of motion • Requires ability to perform vector operations(cross, dot, derivative, etc) • Reduced representation considers only named state variables

  27. Rotations between Reference Frames

  28. Branching Topologies

  29. Vectors

  30. Dynamic Simulation in Laminates

  31. On Github • https://github.com/idealabasu/pynamics

  32. In Gazebo

  33. Finite Element Analysis • Triangular elements: easy to generate from laminate shapes • FEA package for Python • New elements can be derived dynamically given new shape functions • Incorporates several interpolation methods: linear, quadratic, cubic, BCIZ • Works with classical laminate theory. • On Github soon…

  34. Laminate Geometry

  35. Laminate Stiffness

  36. Laminate FEA LISA Abaqus

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