McKibben Creature

McKibben Creature

Overview

The chameleon tongue project is a pneumatically actuated soft robot intended to focus on the movement and control of flexible robots. The core of the project relies on using biomimicry and ECE systems. In this case, a paper form matching a chameleon's or frog's tongue is used alongside an ultrasonic sensor. Students will be tasked with using a 5V air pump to actuate the tongue with the goal of pushing objects based on their distance from the sensor. This project will incorporate programming and control elements.

Course Implementation

Potential Course(s) Implemented:

  • Principles of Electric Circuit Analysis (ECE 09203)
    Mechatronics (ME 10442)
    Intro to Embedded Systems (ECE 09342)
    Intro to Soft Robotics (ECE 09342)

Fundemental Engineering Concepts: 

  • Programming in C/C++
  • Knowledge of Inductors and Capacitors
  • Understanding of Transistors (BJT/MOSFET)
  • Applications of Diodes
  • Ability to find important information in datasheets
  • Pulse Width Modulation (PWM)
  • Pneumatic actuation and its uses


Pre-requisite courses/topics needed:

  • Programming Experience
  • Connecting electrical circuitry
  • Understanding of Inductors and Capacitors
  • Basics of Semiconductors (Diodes/BJTs)

Expected Timeline: 3-4 Weeks

Learning Outcomes:

  • Students will learn how to use microprocessors and microcontrollers and incorporate them into an electric circuit.
  • Students will learn about embedded peripherals and their intended purposes.
    • General-purpose input/output (GPIO)
    • Analog to digital converters
    • Timers
    • PWM
    • Ultrasonic sensor
    • Sensor calibration
  • Students will design and create an embedded system using the embedded peripherals stated above.
  • Students' embedded system must actuate a simple party blower using pneumatics and a mini air pump.
  • Students' embedded systems must extend the party blower to a specified length and push an object like a piece of styrofoam or an empty water bottle.
  • By the end of this project, students will have reached and completed all project milestones.
  • By the end of this project, students will be able to write a technical report about their embedded system.

Theory Application

Understand the acutation principle and underlying engineering theory applies to this project.

Project Description

See the breakdown of how this project will be implemented in a course including instructor prep, materials, and phase timeline.

Sample Prototype

See how the developers fabricated the prototype of this project.

Contributors

Britany Forbes / Jessica Wesnofske