131021 design progress2
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MEDIATED MATTER 2013-2014
DESIGN RESEACH 131021:
ARTICULATED ARMS IN NATURE
MOTION DIAGRAMS
MATERIAL SYSTEMSTABLE OF THE ELEMENTS
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ARTICULATED ARMS IN NATURE
CASE STUDIES OF ARTICULATED ARMS ACROSS BIOLOGICAL SCALES
RELATIONSHIP BETWEEN GEOMETRY, MATERIAL AND MOTION
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Comparative Analysis |Articulated arms across a range of organisms
Environments physically evolving organisms
-Homologous relationship of forearm structures among eight groups of vertebrate animals (1909 book by William Leche)
-124 bat, 125 whale, 126 mole, 127, human, 120 salamander, 121 turtle, 122 crocodile, 123 bird , 120 Salamander, 123 Bird Wing
-O: humerus, A: radius, S: ulna, H: carpals, M: metacarpals, F: phalanges
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Articulated Arms | Web Spinners
Arms: weave, wrap, skin
-Webspinners (located in Trinidad) produce their silk from their forelegs, which have about 150 tiny silk ejectors
-The ejectors create a think silky tissue, which forms a waterproof membrane
-The end structure is so watertight that the spider underneath is in danger of not gett ing enough water
-Webspinners produce a limitless supply of silk in their legs
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Articulated Arms | Wolf Spider
Arms: sense, extrude, wrap, skin - membranes and webs
-Wolf Spiders weave intricate protection pillows for their eggs
-Each hair contains a nerve which can detect minute quantities of female pheromone
-The female spider weaves fuzzy silk (soft padding), then expels a drop of liquid in which eggs are injected
-Once the drop is dry, she adds more fuzzy silk to protect it, then lays a tougher silk to protect the capsule
-She cuts the membrane lose, rolls the it into a pillow, then covers it with a waterproof silken wrapping
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Articulated Arms | Gladiator Ogre Spider
Arms: extrude, weave, capture, wrap
-Gladiator Spider, Ogre faced spider, Net casting spider, is found in the eastern Australian forests
-The spider lays-up a frame (fuzzy glue-less dry silk) net through a multi-arms process
-An additional layer is woven on top of the frame which is made up of a elastic and sticky silk
-The Ogre spider calibrates its distance to the ground, then propels the net onto its prey
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Articulated Arms | Orb Web Spider
Arms: sense, weave, lay-up, form, wrap
-Webs can contain up to sixty meters of silk, with over 3000 different intersection attachments
-Orb Spiders can complete their web in about an hour t ime-frame
-The web has embedded tension mechanisms at the intersection drops, which upon impact prevents the web from breaking
-The spiders leg joints has microscopic sensing slits which react to fine movements in the webs
-Multiple silks are extruded for different web and capture functions
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Articulated Arms | Bolas Spider
Arms: deposit, swing, wind, capture, wrap
-Bolas spiders capture their prey by slinging a glue / silk bead (2.5mm diameter) at the end of a silk line
-The spider releases pheromones which attract the prey close
-Once the prey is caught the spider wraps the prey in silk
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Articulated Arms | Manta Shrimp Smasher
Arm: lock, propel, strike, smash
-The strike of a Manta Shrimp Is one of the fastest limb movements in the animal kingdom (Patek)
-Punch speeds reach 50mph in 3millisecond, a strike comparable to a small caliber bullet
-Saddle shape part of the exoskeleton that acts like a spring
-They use the saddle spring to store energy with a latch mechanism to amplify the strike
-Cavitation (vapor cavities in liquid) is caused from the strike
-Water pressure lowers causing it to boil, small bubbles collapse unleashing high energy
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Articulated Arms | Manta Shrimp Spearer
Arms: lock, propel, strike
-Extendable arms are barbed, and can fire out in a blink of the eye
-Punch speeds reach 50mph in 3millisecond, a strike comparable to a small caliber bullet
-Saddle shape part of the exoskeleton that acts like a spring
-They use the saddle spring to store energy with a latch mechanism to amplify the strike
-Eyes have 16 different photoreceptor pigments and can see polarized light while moving and scanning independently
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Articulated Arms | Preying Mantis
Arms: lock, strike, clean
-Raptorial legs strike to capture prey (birds, lizards, turtles, insects)
-Arms contain rows of sharp spikes, and release faster than a blink of an eye
-STM evolutionary gift of camouflage to adapt and blend in with rocks and soil
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Articulated Arms |Ant Antennae
Arms: construct, communicate, allocate / transform
-Complex task allocations shifts (forager, nest maintenance worker, patroller)
-Layer of grease, hydro-carbons become different as ants perform different tasks
-Tests dropping glass beads with hydro carbons influencing the ants
-Patterns of interactions, pattern is the message
-Embedded rule systems: I expect to meet another forager every three seconds -- rules change as the colony grows
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Articulated Arms | Caddisfly
Arms: extrude, secrete, create, construct
-The larvae of many species use silk to make protective cases of gravel, sand, twigs or other debris.
-Most Caddisfly larvae are underwater architects and use silk, excreted from salivary glands near their mouths, for building.
-Net-making caddisflies usually live in running water, and their nets, serve both as a means to collect algae and as retreats.
-Metamorphosis: egg, larvae, pupa, adult stages
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Articulated Arms | Scorpions
Arms: pinch, traverse, grab, sting
-Scorpions have existed since the time of the dinosaurs and are located on almost every content
-They contain four pairs of legs for walking, a pair of pinchers for grabbing and holding prey, and a stinger to poison its prey
-Nocturnal animals, which wait for their prey
-UV light that hits the creatures gets converted by proteins in their exoskeletons into a light of blue hue
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Articulated Arms | Sea Spider (Pycnogonida)
Arms: traverse, stride, eating
-Anatomy: A: head; B: thorax; C: abdomen,1: proboscis; 2: chelifores; 3: palps; 4: ovigers; 5: egg sacs; 6a6d: four pairs of legs
-Because of their small size and thin body and legs, no respiratory system is necessary, with gases moving by diffusion
-The organs extend throughout many appendages because its body is too small to accommodate all of them alone
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Articulated Arms | Centipede and Millipedes
Arms: grip, traverse, sting
-Centipedes contain one pair of legs per body segment ranging from 20 to 300
-Each leg has a high capacity to grid onto surfaces
-Pinchers located at the mouth can contain pinchers with venom, paralyzing prey
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MOTION DIAGRAMS
CREATING A LINK BETWEEN MOTION AND FORM
MAPPING THE DOF OF LARGE AND SMALL ARMS
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Motion Diagrams | Precedents
Inspiration
-Leonardo da Vinci Vitruvian Man
-Le Corbusier Modulor
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Motion Diagrams | Front DOF V1
Multi-motion ranges
RobotA1 +/-170
A2 +45to -190
A3 +165to -119
A4 +/-190
A5 +/-120
A6 +/-358
Picker
Platform 360
Lower Boom 0to 125
Upper Boom 0to 205
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Motion Diagrams | Front DOF V2
Multi-motion ranges
RobotA1 +/-170
A2 +45to -190
A3 +165to -119
A4 +/-190
A5 +/-120
A6 +/-358
Picker
Platform 360
Lower Boom 0to 125
Upper Boom 0to 205
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Motion Diagrams | Extents Constraints
Composite Working Spheres
RobotA1 +/-170
A2 +45to -190
A3 +165to -119
A4 +/-190
A5 +/-120
A6 +/-358
Picker
Platform 360
Lower Boom 0to 125
Upper Boom 0to 205
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Motion Diagrams |Angular Constraints
Motion Ranges
-Visualizing the large arm and small arm range of motions
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Motion Diagrams | Front DOF V1
Multi-motion ranges
RobotA1 +/-170
A2 +45to -190
A3 +165to -119
A4 +/-190
A5 +/-120
A6 +/-358
Picker
Platform 360
Lower Boom 0to 125
Upper Boom 0to 205
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Motion Diagrams | Front DOF V2
Multi-motion ranges
RobotA1 +/-170
A2 +45to -190
A3 +165to -119
A4 +/-190
A5 +/-120
A6 +/-358
Picker
Platform 360
Lower Boom 0to 125
Upper Boom 0to 205
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Motion Diagrams | Extents Constraints
Composite Working Spheres
RobotA1 +/-170
A2 +45to -190
A3 +165to -119
A4 +/-190
A5 +/-120
A6 +/-358
Picker
Platform 360
Lower Boom 0to 125
Upper Boom 0to 205
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Motion Diagrams |Angular Constraints
Motion Ranges
-Visualizing the large arm and small arm range of motions
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MATERIAL SYSTEMS
A CATALOG OF CHOREOGRAPHIC MATERIALS SYSTEMS
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Material Systems| Table of the Elements
Arms as wrapping
Materials
-Engineering thermoplastics
-Concrete, fiber-reinforced plastics / epoxies,etc
-Polyamide(nylon) and PBT-based materials (reinforced with glass or carbon fiber)
-Reinforced PET materials derived from recycled PET soda and water bottles
-Filament - spools, threads
-Tape - uv curable, prepreg, ect.
-Chopped-fiber (spray, cast, pour, form)
-Fabric sheets, rolls
-Formed boards
-Expandable foam
-Organic resins, sugar based, plant resins, ect
-Cements, fiber-cements
-Epoxies, polyester, phenolic, urethane
Material Processes
-Infusion
-Wet lay-up
-Fiber lay-upfeeding out curing carbon networks
-UV curing
-Pre-pregs
-Vacuum bagging
-Spraying - controlling material distribution and densities
-Ultrasim integrative design / analysis technology - unique fiber-orientation
-Alternatives to traditional injection molding processes, continuous fiber composites (glass and carbon)
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Ashby chart 01 | Material Mapping
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Ashby chart 02 | Material Mapping
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Ashby chart 03 | Material Mapping
A hb h 04 | M i l M i
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Ashby chart 04 | Material Mapping
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BIBLIOGRAPHY
Gould, James L & Carol. Animal Architects: Building and the Evolution of Intelligence. Additional
information. New York, NY: Basic Books, 2007.
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company, publication date.
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project, or database. Editor (if available). Electronic publication information (Date of publication or of
the latest update, and name of any sponsoring institution or organization). Date of access and .