Design of an actuation mechanism for compliant-body biomimetic robots
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2010
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| Online Access: | http://hdl.handle.net/1721.1/54516 |
| _version_ | 1826188194104737792 |
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| author | Mellott, Sean Andrew |
| author2 | Kamal Youcef-Toumi. |
| author_facet | Kamal Youcef-Toumi. Mellott, Sean Andrew |
| author_sort | Mellott, Sean Andrew |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009. |
| first_indexed | 2024-09-23T07:55:58Z |
| format | Thesis |
| id | mit-1721.1/54516 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T07:55:58Z |
| publishDate | 2010 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/545162019-04-09T15:35:11Z Design of an actuation mechanism for compliant-body biomimetic robots Actuation mechanism for compliant-body biomimetic robots Mellott, Sean Andrew Kamal Youcef-Toumi. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Mechanical Engineering. Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009. Cataloged from PDF version of thesis. Includes bibliographical references (p. 63-64). In this thesis, I designed and simulated an actuator mechanism for generating a moment within a compliant (soft) body system. The moment produces vibrational waves throughout a compliant material, and these vibrations are utilized to create biomimetic locomotion. The prototype actuator was developed for use in a fish tail, but it is hope that the actuation system can be applied in other robotic structures. The primary goals of this project included making gains in energy efficiency over previous embodiments, creating a compliant actuator that does not interfere with the natural body vibrations, and creating a system that can easily be modified to be used in a wide variety of soft-bodied systems. The system is also scalable to the size of the structure being actuated. by Sean Andrew Mellott. S.B. 2010-04-28T15:45:00Z 2010-04-28T15:45:00Z 2009 2009 Thesis http://hdl.handle.net/1721.1/54516 560270137 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 64 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Mellott, Sean Andrew Design of an actuation mechanism for compliant-body biomimetic robots |
| title | Design of an actuation mechanism for compliant-body biomimetic robots |
| title_full | Design of an actuation mechanism for compliant-body biomimetic robots |
| title_fullStr | Design of an actuation mechanism for compliant-body biomimetic robots |
| title_full_unstemmed | Design of an actuation mechanism for compliant-body biomimetic robots |
| title_short | Design of an actuation mechanism for compliant-body biomimetic robots |
| title_sort | design of an actuation mechanism for compliant body biomimetic robots |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/54516 |
| work_keys_str_mv | AT mellottseanandrew designofanactuationmechanismforcompliantbodybiomimeticrobots AT mellottseanandrew actuationmechanismforcompliantbodybiomimeticrobots |