Monolithic Design and Fabrication of a 2-DOF Bio-Inspired Leg Transmission
نویسندگان
چکیده
We present the design of a new two degree-of-freedom transmission intended for micro / meso-scale crawling robots which is compatible both with laminate manufacturing techniques and monolithic, “popup” assembly methods. This is enabled through a new design suite called “popupCAD”, a computer-aided design tool which anticipates laminate manufacturing methods with a suite of operations which simplify the existing design workflow. The design has been prototyped at three times the anticpated scale to better understand the assembly and motion kinematics, and simulated to establish the basic relationships between the actuator and end-effector transmission ratios.
منابع مشابه
Design and Fabrication of a Portable 1-DOF Robotic Device for Indentation Tests
There are many tactile devices for indentation examinations to measure mechanical properties of tissue. The purpose of this paper is to develop a portable indentation robotic device to show its usability for measuring the mechanical properties of a healthy abdominal tissue. These measurements will help to develop suitable mathematical models representing abdominal tissue. A 1-DOF portable robot...
متن کاملBioConstructs - Methods for Bio - Inspired and Bio - Fabricated Design
Acknowledgements Chapter 1: Introduction 1.1 1.2 1.3 1.4 1.5 BioConstructs Innovation in the use of computation and digital fabrication methods Collaboration with scientific community Bio-inspired design and biofabrication Thesis structure Chapter 2: The Polypterus study 2.
متن کاملDynamic modeling and control of a 4 DOF robotic finger using adaptive-robust and adaptive-neural controllers
In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...
متن کاملiSprawl : Autonomy, and the Effects of Power Transmission
We describe the design features that underlie the operation of iSprawl, a small (0.3 Kg) autonomous, bio-inspired hexapod that runs at 15 bodylengths/second. These features include a light and flexible power transmission system that permits high speed rotary power to be converted to periodic thrusting and distributed to the tips of the legs, and a tuned set of leg compliances for efficient runn...
متن کاملHybrid Bio-Inspired Clustering Algorithm for Energy Efficient Wireless Sensor Networks
In order to achieve the sensing, communication and processing tasks of Wireless Sensor Networks, an energy-efficient routing protocol is required to manage the dissipated energy of the network and to minimalize the traffic and the overhead during the data transmission stages. Clustering is the most common technique to balance energy consumption amongst all sensor nodes throughout the network. I...
متن کامل