Description
Undulatory locomotion is a unique form of swimming that generates thrust through the propagation of a wave through a fish’s body. The proposed device utilizes a constrained compliant material with a single actuator to generate an undulatory motion. This paper draws inspiration from Anguilliformes and discusses the kinematics and dynamics of wave propagation of an underwater robot. A variety of parameters are explored through modeling and are optimized for thrust generation to better understand the device. This paper validates the theoretical spine behavior through experimentation and provides a path forward for future development in device optimization for various applications. Previous work developed devices that utilized either paired soft actuators or multiple redundant classical actuators that resulted in a complex prototype with intricate controls. The work of this paper contrasts with prior work in that it aims to achieve undulatory motion through passive actuation from a single actively driven point which simplifies the control. Through this work, the goal is to further explore low-cost soft robotics via bistable mechanisms, continuum material properties, and simplified modeling practices.
Included in this item (2)
Permanent Link
Details
Title
- Development, Modeling, and Testing of a Compliant Bistable Anguilliform Robot
Contributors
Agent
- Kwan, Anson (Author)
- Aukes, Daniel (Thesis advisor)
- Zhang, Wenlong (Committee member)
- Marvi, Hamid (Committee member)
- Arizona State University (Publisher)
Date Created
The date the item was original created (prior to any relationship with the ASU Digital Repositories.)
2023
Subjects
Collections this item is in
Note
-
Partial requirement for: M.S., Arizona State University, 2023
-
Field of study: Engineering