The objective is to modularize and further waterproof the MUBot biomimetic fish.
Sponsored by: Pennsylvania State University Applied Research Laboratory
Team Members
Rui Xun Lim Sophia Mira Tonkonozehnko Yurkovetsky Lily McGinnis Clarence Fultz Matthew Cacace Malik Smith Rachel Kate Yanalitis
Instructor: Xiaogang Hu
Project Poster
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Project Video
Project Summary
Overview
The PSU ARL & BioRob-InFL Lab challenged our capstone team to provide an improved iteration of the Modular Undulatory Biometric Fish (MUBot) that has better modularity and watertightness for easier assembly and durability. The lab will insert sensors into the MUBot so that it can be placed inside the rumen of a cow and monitor methane production and bovine health.
Objectives
– Improve the modularity of the MUBot in order to decrease assembly time and localize repairs
– Enhance the watertightness so that the MUBot could remain underwater for longer than 3 hours while stationary
Approach
– Discussed the expectations and needs for this project with the sponsors
– Researched existing products that implemented snap connections
– Created armature arms in SolidWorks to provide a keyed connection using an interference fit
– Designed molds to create a watertight silicone skin to be placed on the MUBot
– Modified the PCB by rotating the pin connectors by 90 degrees
– Produced prototypes with 1 body segment
– Testing was conducted analyze the modularity and watertightness of the new design
Outcomes
– Assembly time of 1 body segment was reduced from 90 seconds to 45 seconds
– The MUBot remained underwater for 11 hours while stationary, compared to the 3 hours that the old design was capable of
– Electrical connections were linearized to improve the electrical connectivity