Design and Kinematics of a Dielectric Elastomer Actuated Micro Dragonfly Robot
Dragonflies fly in a unique way compared to other hovering insects. Soft robotics are used to learn more about their flapping motion. An at-scale dragonfly robot is designed around Dielectric Elastomer Actuators that compress and expand 0.5mm. With this knowledge, MATLAB was used to predict the link...
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| Formato: | Tesis |
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Massachusetts Institute of Technology
2022
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| Acceso en línea: | https://hdl.handle.net/1721.1/144664 |
| _version_ | 1826215188000407552 |
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| author | Arase, Cathleen |
| author2 | Chen, Yufeng (Kevin) |
| author_facet | Chen, Yufeng (Kevin) Arase, Cathleen |
| author_sort | Arase, Cathleen |
| collection | MIT |
| description | Dragonflies fly in a unique way compared to other hovering insects. Soft robotics are used to learn more about their flapping motion. An at-scale dragonfly robot is designed around Dielectric Elastomer Actuators that compress and expand 0.5mm. With this knowledge, MATLAB was used to predict the linkage sizes that control the wing stroke movement.
Using the values calculated in MATLAB, Solidworks was used to design a soft robot that mimics a dragonfly’s flight. Motion analysis was then used to map the movements of the robot. This analysis showed an angular wing displacement of 93⁰ in the θ direction. The wing hinge (φ direction) moves 90⁰ on the upstroke and is stopped by a limiting piece to 40⁰ on the downstroke. |
| first_indexed | 2024-09-23T16:18:16Z |
| format | Thesis |
| id | mit-1721.1/144664 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T16:18:16Z |
| publishDate | 2022 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1446642022-08-30T03:04:12Z Design and Kinematics of a Dielectric Elastomer Actuated Micro Dragonfly Robot Arase, Cathleen Chen, Yufeng (Kevin) Massachusetts Institute of Technology. Department of Mechanical Engineering Dragonflies fly in a unique way compared to other hovering insects. Soft robotics are used to learn more about their flapping motion. An at-scale dragonfly robot is designed around Dielectric Elastomer Actuators that compress and expand 0.5mm. With this knowledge, MATLAB was used to predict the linkage sizes that control the wing stroke movement. Using the values calculated in MATLAB, Solidworks was used to design a soft robot that mimics a dragonfly’s flight. Motion analysis was then used to map the movements of the robot. This analysis showed an angular wing displacement of 93⁰ in the θ direction. The wing hinge (φ direction) moves 90⁰ on the upstroke and is stopped by a limiting piece to 40⁰ on the downstroke. S.B. 2022-08-29T16:03:09Z 2022-08-29T16:03:09Z 2022-05 2022-06-14T19:35:12.581Z Thesis https://hdl.handle.net/1721.1/144664 0000-0002-7170-4609 In Copyright - Educational Use Permitted Copyright MIT http://rightsstatements.org/page/InC-EDU/1.0/ application/pdf Massachusetts Institute of Technology |
| spellingShingle | Arase, Cathleen Design and Kinematics of a Dielectric Elastomer Actuated Micro Dragonfly Robot |
| title | Design and Kinematics of a Dielectric Elastomer Actuated Micro Dragonfly Robot |
| title_full | Design and Kinematics of a Dielectric Elastomer Actuated Micro Dragonfly Robot |
| title_fullStr | Design and Kinematics of a Dielectric Elastomer Actuated Micro Dragonfly Robot |
| title_full_unstemmed | Design and Kinematics of a Dielectric Elastomer Actuated Micro Dragonfly Robot |
| title_short | Design and Kinematics of a Dielectric Elastomer Actuated Micro Dragonfly Robot |
| title_sort | design and kinematics of a dielectric elastomer actuated micro dragonfly robot |
| url | https://hdl.handle.net/1721.1/144664 |
| work_keys_str_mv | AT arasecathleen designandkinematicsofadielectricelastomeractuatedmicrodragonflyrobot |