BROMMI:TAK is a bioinspired redundant elephant's trunk completely driven by fluidic muscles. The robot consist of 8 segments driven by 27 fluidic muscle actuators, controlled by 50 valves and observed by 35 pressure and 19 angle sensors; 19 DOF's.

 

Buildup:

• Head segment consist of a turner joint
  • driven by 2 fluidic muscle DMSP-40 (each 6kN max),
  • controlled by 2 proportional valves MPYE and observed by 2 pressure and 1 angle sensors
  and a lifter joint
  • driven by 4 (2 parallel) fluidic muscle DMSP-40 (each 6kN max),
  • controlled by 2 proportional valves MPYE and observed by 2 pressure and 1 angle sensors
• 4 upper trunk segments
  • each driven by 3 fluidic muscle DMSP-20 (each 1.5kN max),
  • each controlled by 6 proportional valves PVQ and observed by 3+1 (segment inlet) pressure and 2 angle sensors
• 3 lower trunk segments
  • each driven by 3 fluidic muscle DMSP-10 (each 0.63kN max),
  • each controlled by 6 switching valves MH1 and observed by 3+1 (segment inlet) pressure and 2 angle sensors
• Hand segment
  • driven by 1 pneumatic DSM and 1 pneumatic Fin-Ray gripper DHDG,
  • controlled by 4 switching valves MH1 and observed by 2+1 (segment inlet) pressure and 1 angle sensor

 

Performance parameters:

• Target speed: normal 250mm/sec, maximal 1m/sec (mechanically limited by tube diameter)
• Accuracy: position +-15mm, repeat +-5mm
• Payload: handling 500g, maximal 3kg
• Power: stand-by 10W, operation 50W (both plus compressed air)
• Trunk weight: 18kg
• Material cost: <10.000,- Euro

 

Team:

The final project team of the TU Berlin says thank you.

 

Videos:

The speed of the robot movement is limited by the control to the maximum permissible value of 250mm/sec prescribed by Institute of Occupational Health of the German Social Accident Insurance (IFA). Moreover, the maximum speed in case of failure is physically limited by the chosen hose diameter.

   Of course, the control can be set so that it reaches the preset physical limit. Also, the hose diameter can be increased to enable faster movements.

 

Below you see some videos of BROMMI:TAK as embeded youtube video:

First tests in our workshop in summer 2012.

Project final presentation end of 2012.

As assistant in the assembly and in the household in early 2013.