27 research outputs found
Force Measurement of Basilisk Lizard Running on Water
abstract: Basilisk lizards are often studied for their unique ability to run across the surface of
water. Due to the complicated fluid dynamics of this process, the forces applied on the
water’s surface cannot be measured using traditional methods. This thesis presents a
novel technique of measuring the forces using a fluid dynamic force platform (FDFP),
a light, rigid box immersed in water. This platform, along with a motion capture
system, can be used to characterize the kinematics and dynamics of a basilisk lizard
running on water. This could ultimately lead to robots that can run on water in a
similar manner.Dissertation/ThesisMasters Thesis Mechanical Engineering 201
Water Dancer II-a: a Non-tethered Telecontrollable Water Strider Robot
Water Strider Robot (WSR) is a kind of bio‐ inspired micro robot that can stand and move on water surface via surface tension. In this paper, a design method is presented with algorithms for designing driving leg. Structure, control system and software of the robot are also discussed in details. A prototype Water Dancer II‐a that is driven with two electric motors is presented as successfully tested in lab. The proposed WSR is tele‐controlled with infrared signals and has the capability of turning and speed regulation with features of light tiny volume and low power consumption. Experimental results are reported and discussed to show practical feasibility of the presented WSR prototype. The new results in the paper are related also to the WSR prototype design with a robot body of less than 30 x 30 mm size and with ten leg rods of 90 mm length and 0.2 diameter that are able to provide lifting force for a water walk of the 6.0 grams robot at a forward speed of 20 cm/s or angular velocity of 9 degree/s with two micro DC motors (RoomFlight 4 x 8 mm, 28 Ohm)
The jumping mechanism of flea beetles (Coleoptera, Chrysomelidae, Alticini), its application to bionics and preliminary design for a robotic jumping leg
Flea beetles (Coleoptera, Chrysomelidae, Galerucinae, Alticini) are a hyperdiverse group of organisms with approximately 9900 species worldwide. In addition to walking as most insects do, nearly all the species of flea beetles have an ability to jump and this ability is commonly understood as one of the key adaptations responsible for its diversity. Our investigation of flea beetle jumping is based on high-speed filming, micro- CT scans and 3D reconstructions, and provides a mechanical description of the jump. We reveal that the flea beetle jumping mechanism is a catapult in nature and is enabled by a small structure in the hind femur called an ‘elastic plate’ which powers the explosive jump and protects other structures from potential injury. The explosive catapult jump of flea beetles involves a unique ‘high-efficiency mechanism’ and ‘positive feedback mechanism’. As this catapult mechanism could inspire the design of bionic jumping limbs, we provide a preliminary design for a robotic jumping leg, which could be a resource for the bionics industry
Design of a robotic water strider
Miniature robots are of great interest in the fields of rescue, military defense and
construction. Manufacturing of centimeter scale autonomous robots is a challenging task
using modern assembly technologies but is a lot simpler using artificial muscles. Artificial
muscles move by changing their physical shape, which makes them similar to biological
muscles and allow for design of bioinspired soft robots.
During this Bachelor's thesis a design for a robot that can move on water is made. The design
is inspired by water strider. Many technologies are used that have not been used in soft
robotics before: the electronics are designed on a flexible circuit board, which allows to use
the structure of the circuit board to fasten the artifcial muscles, the artificial muscles to be
used in this design have a cut in their electrodes and are bent so they could be actuated in
two dimensions.Miniatuursed robotid pakuvad suurt huvi rakendamiseks päästetöödel, kuid ka riigikaitses
ning ehituses. Sentimeetriskaalas autonoomsete robotite tootmine on väljakutsuv ülesanne
kaasaegse masinaehitustehnoloogia abil, kuid osutub oluliselt lihtsamini lahendatavaks
tehislihaste abil. Tehislihased liigutavad kuju muutmise kaudu, sarnanedes sellega
bioloogilistele lihastele ning võimaldavad disainida bioinspireeritud pehmeroboteid.
Selle bakalaureusetöö raames luuakse vee peal liikuva roboti disain, mis on inspireeritud
vesiliugurist. Kasutatakse mitmeid tehnoloogiaid, mida pehmerobotite disainis varem
kasutatud ei ole: roboti elektriskeem disainitakse painduvale trükkplaadile. See võimaldab
trükkplaadi kasutamist tehislihaste kinnitusena. Töö raames valitakse tehislihased, mille
elektroodis on katkestus ning mis on koolutatud, et võimaldada kahes teljes tehislihase
liigutamist
Locomation strategies for amphibious robots-a review
In the past two decades, unmanned amphibious robots have proven the most promising and efficient systems ranging from scientific, military, and commercial applications. The applications like monitoring, surveillance, reconnaissance, and military combat operations require platforms to maneuver on challenging, complex, rugged terrains and diverse environments. The recent technological advancements and development in aquatic robotics and mobile robotics have facilitated a more agile, robust, and efficient amphibious robots maneuvering in multiple environments and various terrain profiles. Amphibious robot
locomotion inspired by nature, such as amphibians, offers augmented flexibility, improved adaptability, and
higher mobility over terrestrial, aquatic, and aerial mediums. In this review, amphibious robots' locomotion
mechanism designed and developed previously are consolidated, systematically The review also analyzes
the literature on amphibious robot highlighting the limitations, open research areas, recent key development
in this research field. Further development and contributions to amphibious robot locomotion, actuation, and
control can be utilized to perform specific missions in sophisticated environments, where tasks are unsafe
or hardly feasible for the divers or traditional aquatic and terrestrial robots
Zur Mechanik vibrationsgetriebener Roboter für terrestrische und aquatische Lokomotion
This thesis discusses the mechanics of mobile robots for terrestrial and
aquatic locomotion. Vibration-driven locomotion systems are characterised
by an internal periodic excitation, which is transformed to a directed
motion due to asymmetric properties of the system. To perform a
two-dimensional and controllable locomotion, mechanical properties of
robots are investigated dependent on the frequency of the internal
excitation. The mechanical description of the robots is done using
analytical and numerical methods and supported by experimental studies. The
applicability of the results in mobile robots is proved by prototypes.On
the basis of mechanical fundamentals, terrestrial and aquatic locomotion
principles are discussed and classified. Actuators are reviewed. The
purpose is to evaluate the performance as vibration sources for terrestrial
and aquatic systems. Piezoelectric bending elements are particular suitable
for it. An extensive overview on the state of the art shows the great
potential of vibration-driven locomotion systems for miniaturised
applications in technics.Systems with bristles can perform unidirectional
terrestrial locomotion. Different working principles of bristles are
studied based on a rigid body model and experimental investigations. A
prototype for the locomotion in tubes is presented. To perform a
controllable two-dimensional locomotion with only one actuator, it is
needed to overcome the limits of rigid body systems. The applied approach
uses the frequency-dependent vibration behaviour of elastic systems, like
beams and plates. Models of continuum mechanics and finite element methods
are used and supported by experiments. Based on the investigations, a
programmable and remote controlled prototype is developed. The locomotion
of it can be controlled on different surfaces by a change of the excitation
frequency. The velocity of the prototype is up to 100 mm/s and it can
support five times its own weight.Concluding, an innovative prototype with
a single piezoelectric actuator for a controllable locomotion on flat
ground and floating in fluids is developed. The terrestrial and aquatic
locomotion behaviour of the robot is investigated. The carrying capacity of
it is calculated using a hydrostatic model.Die Mechanik von mobilen Robotern für terrestrische und aquatische Lokomotion ist der Gegenstand der Arbeit. In den untersuchten Systemen wird die periodische Erregung eines inneren Antriebs durch nicht symmetrische Systemeigenschaften in eine gerichtete Fortbewegung gewandelt. Durch die Nutzung des frequenzabhängigen Schwingungsverhaltens von elastischen Systemen, wie Balken oder Platten, werden Systeme realisiert, die durch nur einen Antrieb eine steuerbare zweidimensionale Lokomotion auf festem Untergrund und an der Oberfläche von Flüssigkeiten durchführen können. Der Schwerpunkt der Arbeit liegt auf der mathematisch-mechanischen Beschreibung der Roboter mittels analytischer und numerischer Methoden sowie ihrer experimentellen Untersuchung. Prototypen mobiler Roboter dienen dem funktionellen Nachweis.Auch im Buchhandel erhältlich:
Zur Mechanik vibrationsgetriebener Roboter für terrestrische und aquatische Lokomotion / Felix Becker
Ilmenau : Univ.-Verl. Ilmenau, 2015. - XIX, 149 S.
ISBN 978-3-86360-124-9
URN urn:nbn:de:gbv:ilm1-2015000338
Preis (Druckausgabe): 21,30