CORE Metadata, citation and similar papers at core.ac.uk Provided by Bradford Scholars University of Bradford eThesis This thesis is hosted in Bradford Scholars – The University of Bradford Open Access repository. Visit the repository for full metadata or to contact the repository team © University of Bradford. This work is licenced for reuse under a Creative Commons Licence. AN INVESTIGATION INTO THE CONSTRUCTION OF AN ANIMATRONIC MODEL Christopher Thomas PEEL submitted for the degree of Master of Philosophy School of Informatics University of Bradford 2008 Abstract; C Peel: An Investigation into the Construction of an Animatronic Model This thesis investigates the development of an animatronic robot with the objective of showing how modern animatronic models created as special effects have roots in models created during the scientific and mechanical revolution of the 17th and 18th centuries. It is noted that animatronic models that are available today have not been described in any great detail and most are covered by industrial secrecy. This project utilises technologies developed during the latter part of the 20th century and into the beginning of the 21st century to create the design of the animatronic robot. The objective of the project is to bring effective designs for animatronic robots into the public domain. The project will investigate a large variety of different mechanisms and apply them to various functioning parts of the model, with the design and method of each of these functions discussed. From this, one main part of the project, the jaw, will receive the focus of construction. Once the construction is complete this will be evaluated against what improvements and changes could be made for future iterations, with a revised design produced based on what has been learned. Keywords Allosaurus Animatronic Autonomous Control System Dinosaur head Museum Exhibit PIC16F84A Robotics Special Effects Visitor Attraction 1 Contents Chapter 1 - Introduction/History .................................................................................... 4 History of Animatronics – Introduction ................................................................. 5 Mechanical Automata: Precursor to Animatronics ............................................... 5 20th Century Electromechanical Automata .......................................................... 10 Defining “Animatronics” .................................................................................... 12 Film vs. Museum Animatronics............................................................................ 14 Summary .............................................................................................................. 16 Chapter 2 - Model Design ............................................................................................ 18 Design Constraints............................................................................................... 18 Material Selection ................................................................................................ 19 Actuation – Electro vs. Fluid Power .................................................................... 21 Modular Design Approach .................................................................................. 23 Tongue ................................................................................................................. 23 Jaw ....................................................................................................................... 25 Cheeks .................................................................................................................. 26 Eyebrows.............................................................................................................. 27 Eyelids.................................................................................................................. 27 Eyes ...................................................................................................................... 28 Nostrils ................................................................................................................. 28 Internal Controller ................................................................................................ 29 Assembly.............................................................................................................. 30 Design Brief ......................................................................................................... 31 Design Issues ....................................................................................................... 31 Jaw Actuation & Motor Positioning .................................................................... 32 Point of Rotation .................................................................................................. 34 Potential Points of Failure................................................................................... 36 Final Mechanism ................................................................................................. 36 Chapter 3 - Construction .............................................................................................. 39 Construction Techniques ..................................................................................... 39 Papier-mâché test ................................................................................................. 39 Constructing the frame ......................................................................................... 40 Control subsystem ................................................................................................ 40 Improved Control Subsystem .............................................................................. 41 Cam Construction ................................................................................................ 42 Controller Design ................................................................................................ 44 Program Design ................................................................................................... 47 Chapter 4 - Review of Project Objectives.................................................................... 49 Chapter 5 - Revised Design ......................................................................................... 53 Mechanical Redesign ........................................................................................... 53 Redesign Limitations ............................................................................................ 54 Balance of Issues.................................................................................................. 55 Controller Redesign ............................................................................................. 56 Sound Implementation ......................................................................................... 56 2 Chapter 6 - Conclusions ............................................................................................... 59 Starting out........................................................................................................... 59 Construction ......................................................................................................... 60 Points of Issue ...................................................................................................... 61 Animatronics at Home ......................................................................................... 63 Conclusion ........................................................................................................... 63 References .................................................................................................................... 65 Appendix A – Mathematics used in this project .......................................................... 68 Appendix B – Program code for the controller ............................................................ 70 Appendix C – Non Research Issues ............................................................................. 72 Appendix D – List of materials & parts used .............................................................. 74 Appendix E – Quick Reference Tables ........................................................................ 75 Table of Figures: Fig 1-1 – The Flute Player ............................................................................. 7 Fig 1-2 – The musician built by Jaquet-Droz ................................................. 8 Fig 1-3 – Images of the T-Rex built by Kokoro ........................................... 17 Fig 2-1 – Images of Allosaurus skulls .......................................................... 19 Fig 2-2 – The main jaw and tongue mechanisms ......................................... 25 Fig 2-3 – The cheek mechanism ................................................................... 26 Fig 2-4 – The nostril mechanism .................................................................. 29 Fig 2-5 – Top side and rear views of the jaw mechanism ............................ 38 Fig 3-1 – Actual size image of the eccentric cam ......................................... 43 Fig 3-2 – The cam/motor/sensor piece ......................................................... 44 Fig 3-3 – Circuit diagram for the controller ................................................. 45 Fig 3-4 – Circuit schematic ........................................................................... 47 Fig