Fractal branching ultra-dexterous robots (Bush robots)
Assembly Instructions. April 1999, Hans Moravec



NASA
ADVANCED CONCEPTS RESEARCH PROJECTS
PR-Number 10-86888 Appropriation: 806/70110
CMU Cooperative Agreement NCC7-7


Three-Meter Mechanical
Bush Robot Model



Please Save Shipping Boxes!


When Model is No Longer Needed
Please Ship Back to:


Hans Moravec
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
USA

email: hpm@cmu.edu
tel: (412) 268-3829
fax: (412) 363-9834





Assembly Instructions for Mechanical Model

The assembly should be carried out by two persons. The robot weighs about 50 kg, and some of the assembly steps are awkward. The robot is shipped in two separate containers, one containing the bush robot itself, folded to a height of 200 cm and a diameter of 30 cm. The other box contains a round, 70 cm diameter base for the robot. Opening the boxes should reveal the following.

Bush Robot in Shipping Box           Bush Robot Base          



1: Carefully lift the bush robot out of its box, taking care not to catch and damage the small branches on the case sides. Tip the bush robot stem into the holding collar on the base:



2: Hold the stem vertically and push down to make sure it is firmly seated in the base. Then tighten the base clamp bolt:



3: The tree first-level branches are quite heavy, and may cause damage or injury if allowed to fall unrestrained. With one person restraining all three first level branches, loosen the central joint until the branches move freely. Position the branches as desired, then firmly tighten the joint again:


4. Analogous to step 3, release, reposition, and retighten upper level joints as desired. The sheet metal holddowns were bent by hand, and in some cases are slightly misaligned on their ball joint, causing pinching. Balls that are difficult to move can be temporarily loosened by pushing up their retaining metal leaf with one’s fingers.



5. Enjoy your Bush Robot Model.

6. When the model is no longer needed, please reverse the above steps, and ship back to us for safekeeping.

Ship Back to:


Hans Moravec
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213
USA

email: hpm@cmu.edu
tel: (412) 268-3829
fax: (412) 363-9834


Mechanical Bush Robot Model Photo Gallery