Full metadata
Title
Development, Modeling, and Testing of a Compliant Bistable Anguilliform Robot
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.
Date Created
2023
Contributors
- Kwan, Anson (Author)
- Aukes, Daniel (Thesis advisor)
- Zhang, Wenlong (Committee member)
- Marvi, Hamid (Committee member)
- Arizona State University (Publisher)
Topical Subject
Extent
45 pages
Language
eng
Copyright Statement
In Copyright
Primary Member of
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.2.N.187636
Level of coding
minimal
Cataloging Standards
Note
Partial requirement for: M.S., Arizona State University, 2023
Field of study: Engineering
System Created
- 2023-06-07 11:56:13
System Modified
- 2023-06-07 11:56:13
- 1 year 5 months ago
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