Owners Manual for

GUS
A Robotic Inchworm Device

Project by

Project Manager: Electrical Engineering Lead: Mechanical Engineering Lead: Safety Officer / Mechanical Engineer: Mechanical Engineer:

Nacho Alvarado David Moon Tommy Cowan Chris Thompson William Reynolds

Baylor University EGR 3380 Junior Engineering Design May 2, 2010

Table of Contents
Introduction Safety Information Operating Instructions 3 5 7

Introduction
Congratulations on your purchase of the GUS!

Overview
There are many devices today that emulate things of nature. These devices qualify under a wide field of study called biomimetics. GUS was designed as a biomimetic device that specifically mimics the movement of an inchworm. Like an inchworm, it accomplishes the task of first moving the front portion of its body and has its rear portion trailing behind. See Figure 1.1.1 1.1.3 GUS has the ability to differentiate between surfaces. This capacity was added in order to simulate a situation close to that of an inchworm travelling on a leaf. When an inchworm reaches the end of a leaf on which it is travelling, it is inclined to turn around to avoid falling down. In the same manner, GUS is able to travel on a firm dark surface that represents a leaf. It naturally turns around when it sees the end of the leaf indicated by a taped mark. In this way, GUS imitates the instincts of an inchworm as well as its particular accordion-like movement.

Figure1.1.1:StartingPosition

Figure1.1.2:Extension

Functionality
GUS is specifically designed to complete the following 4 steps: Starting in front of a taped mark, it moves forward once the switch is flipped on. 2. It reverses direction when it comes across a taped mark in its path. 3. It comes back the way it came from. 4. It stops at the starting taped mark. 1.

Figure1.1.3:Compression

Main Features
GUS integrates a pneumatic (air) system and an electrical system to achieve its functionalities. See Figure 1.3.1 and Figure 1.3.2 Pneumatic Components:
1

Pressure Regulator (Controls the pressure of CO2 inputted) CO2 Tank Remote Valve (Releases CO2 from the CO2 tank when twisted)
1 2 3 4 8

CO2 Tank

(Main pneumatic power source)

Brake Cylinders (2) (Moves vertically to provide alternating brakes that allows for horizontal displacement) Body Valve (Controls the body cylinder) Body Cylinder (Provides the horizontal propulsion of the device) Brake Valve (Controls the brake cylinders) Flow Control Valves (4) (Controls the rate CO2 exits the body cylinder)
6 7

Electrical Components:
5

Switch (Turns the device on/off)

Front Sensor 10 (Senses a taped mark and signals the device to reverse its motion) Back Sensor (Senses a taped mark and signals the device to stop its motion)
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Figure1.3.1:IsometricView

10

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Figure1.3.2:BottomView

Safety Information
Please make sure to read all of the safety information below. Failure to do so may result in harm to the operator and/or device.

(Important!) Store the device in cool and dry environment (max 95 F / 35 C). Flip the switch off before and after its use. See Figure 2.1 Do not get water on the device. Avoid shaking when handling or transporting the device. Use the device only on a smooth, dark surface. Only lay the device on its feet. (Important!) Do not twist the knob on the pressure regulator. (If the knob is turned, call (254) 652 9708 for further instructions). See Figure 2.2

Figure2.1:FliptheSwitch Off

Figure2.2:DonotturnthePressureRegulatorKnob

(Important!) Make sure the CO2 tank remote valve is firmly connected to the pressure regulator. See Figure 2.3

Figure2.3:SecurethePressureRegulator

(Important!) Make sure the CO2 tank remote valve is twisted firmly on the CO2 tank See Figure 2.4

(Important!) Make sure the knob on the CO2 tank remote valve is twisted out firmly whenever the device is not in use so that no CO2 leaks out. Make sure the taped mark is visibly white and not transparent. During use, make sure the device does not travel further than the 18V adapter chord allows. See Figure 2.5 Unplug the 18V adapter after use.

Figure2.4:SecuretheCO2TankRemoteValve

(Important!) If the device does not function as indicated in any way, call (254) 652 9708 to refer to one of our specialists.

Figure2.5:DoNotStretchtheAdapterCord

Operating Instructions
GUS Operation:
1. Place two long piece of tape a distance of approximately 6 feet apart on dark surface. (The tapes mark the starting point and turning point.)

2. Place GUS in front of the taped mark you decided as a starting point.

3. Plug in the 18V adapter to the wall.

4. Plug in the other end of the 18V adapter to GUS.

5. Twist the knob on the CO2 remote valve until you hear CO2 being released. (Observe one of the brake cylinders extending.)

6. Turn the switch on. (The device should move forward.)

7. After GUS returns, Turn the switch off. (Make sure the knob on the CO2 tank remote valve is twisted out firmly whenever the device is not in use so that no CO2 is leaking out.)

8. (Optional) If you want to run GUS again, repeat steps 2, 4, and 5.

9. When you are done, twist the knob on the CO2 remote valve to stop the CO2 from flowing out.

10. Unplug the 18V adapter and store GUS.

How to Replace Your CO2 Tank:

1. Turn the knob on the CO2 remote valve so that no CO2 can come out of the CO2 tank.

2. Twist out the empty CO2 tank from the CO2 tank remote valve. (Store the empty CO2 tank somewhere cool and safe.)

3. Carefully twist in a full CO2 tank.

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List of Technical Drawings

Full Assembly Pneumatic Assembly 4 Way Valve Assembly Foot Assembly Foot Foot Mount Structure Assembly Sensor Mount 12 13 14 15 16 17 18 19

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