Design of biomimetic compliant devices for locomotion in liquid environments
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2007
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| Online Access: | http://hdl.handle.net/1721.1/38927 |
| _version_ | 1826201517757038592 |
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| author | Valdivia y Alvarado, Pablo (Pablo Alvaro), 1977- |
| author2 | Kamal Youcef-Toumi. |
| author_facet | Kamal Youcef-Toumi. Valdivia y Alvarado, Pablo (Pablo Alvaro), 1977- |
| author_sort | Valdivia y Alvarado, Pablo (Pablo Alvaro), 1977- |
| collection | MIT |
| description | Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. |
| first_indexed | 2024-09-23T11:53:00Z |
| format | Thesis |
| id | mit-1721.1/38927 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T11:53:00Z |
| publishDate | 2007 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/389272019-04-12T07:36:22Z Design of biomimetic compliant devices for locomotion in liquid environments Valdivia y Alvarado, Pablo (Pablo Alvaro), 1977- Kamal Youcef-Toumi. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. Includes bibliographical references (p. 161-164). Presently, there is a need for devices capable of autonomous locomotion in liquid environments. Humanitarian, industrial and defense applications are numerous and include examples such as search and rescue missions, ocean exploration, and de-mining operations. Due to the nature of the environments involved, the required devices must overcome several challenges. The main challenges are related to hardware performance in terms of propulsion efficiency, mechanical robustness, maneuverability, adaptability, stealth and autonomy. Current traditional approaches that use propeller driven devices have limited success in addressing these challenges. As a result devices that mimic fish-like swimming techniques have emerged as a promising alternative that can provide additional maneuvering features and the promise of improved performance. However, the inherent problems of current biomimetic devices have been identified as: (i) mechanical complexity due to the use of discrete and rigid components, and (ii) lack of a systematic design approach. These problems limit the practical implementation of biomimetic techniques in real mission environments. This thesis presents an alternative approach for implementing biomimetic fish-like swimming techniques by exploiting natural dynamics of compliant bodies. (cont.) The resultant devices are simpler and more mechanically robust than traditional biomimetic devices. Models are developed to express both the swimming kinematics and the corresponding swimming performance of the proposed devices, in terms of material, actuation and geometry design parameters. Design methodologies that identify the required prototype design parameters for a given target performance are proposed. The designs for caranguiform and thunniform type swimming devices are presented and their performance is characterized experimentally. Predictions based on an elongated body theory model that uses a second order approximation for the body kinematics display good agreement with prototype performance. Finally, the performance limits and the sensitivity to changes in design parameters are shown to be related to the second order system approximation of the body kinematics. by Pablo Valdivia y Alvarado. Ph.D. 2007-09-28T13:09:55Z 2007-09-28T13:09:55Z 2007 2007 Thesis http://hdl.handle.net/1721.1/38927 165233020 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 164 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Valdivia y Alvarado, Pablo (Pablo Alvaro), 1977- Design of biomimetic compliant devices for locomotion in liquid environments |
| title | Design of biomimetic compliant devices for locomotion in liquid environments |
| title_full | Design of biomimetic compliant devices for locomotion in liquid environments |
| title_fullStr | Design of biomimetic compliant devices for locomotion in liquid environments |
| title_full_unstemmed | Design of biomimetic compliant devices for locomotion in liquid environments |
| title_short | Design of biomimetic compliant devices for locomotion in liquid environments |
| title_sort | design of biomimetic compliant devices for locomotion in liquid environments |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/38927 |
| work_keys_str_mv | AT valdiviayalvaradopablopabloalvaro1977 designofbiomimeticcompliantdevicesforlocomotioninliquidenvironments |