Design and Engineering Application of Multi-material Layered Structure-based Bio-inspired Robots : Compliant Mechanism-based Soft Directional Adhesion Gripper and Bio-inspired Directional Water Jumping Robot with Drag-based Propulsion
- 주제(키워드) Bio-inspired robot , Multi-material layered structure , Soft gripper , FPCBs , Jumping robot , Jumping on water , Drag force
- 주제(DDC) 621.8
- 발행기관 아주대학교
- 지도교수 고제성
- 발행년도 2021
- 학위수여년월 2021. 8
- 학위명 석사
- 학과 및 전공 일반대학원 기계공학과
- 실제URI http://www.dcollection.net/handler/ajou/000000031207
- 본문언어 영어
- 저작권 아주대학교 논문은 저작권에 의해 보호받습니다.
초록/요약
Our attempts to mimic the locomotion of animals have led to many technological advances that have revolutionized how artificial machines and robots travel through air, in water, and over land. The bio-mechanisms have been optimized for specific locomotion, such as climbing walls or jumping on the water, according to their habitat. These extreme locomotions fascinated biologists and robotic researchers and lead to the creation of simpler and more effective mechanisms than the conventional systems. Based on biological studies and multi-material layered structure, we introduce a Gecko-inspired soft directional adhesion gripper and insect-inspired water jumping robot with drag-based propulsion. Multi-material layered structure facilitates the fabrication of 3D structures and compliant structures at various scales by using a multi-material with different elastic modulus. The Gecko-inspired soft directional adhesion gripper successfully picks up and releases thin, flexible materials of various sizes such as flexible printed circuit boards without damage. The insect-inspired water jumping robot is capable of vertical and directional jump on the water surface with drag-based propulsion. These design and applications of multi-material layered structure-based bio-inspired robots overcomes the limitations of conventional machines and expand the area that robots work in.
more목차
Ⅰ Introduction 1
Ⅱ Multi-material Layered Structure 3
Ⅲ Gecko-inspired Soft Directional Adhesion Gripper 5
Ⅲ.1 Introduction 5
Ⅲ.2 Design and Fabrication 8
Ⅲ.2.1 Design and Fabrication of Directional Adhesives 8
Ⅲ.2.2 Additional Polymer Coating Process 10
Ⅲ.2.3 Design of Compliant Gripper Mechanism 16
Ⅲ.3 Experimental Results 22
Ⅲ.3.1 Durability and reusability test of soft gripper 22
Ⅲ.3.2 Gripping various FPCBs and flat objects 23
Ⅲ.4 Conclusion 25
Ⅳ Insect-inspired Jumping Robot on Water 27
Ⅳ.1 Introduction 27
Ⅳ.2 Jumping Mechanism of Semi-aquatic Creatures 30
Ⅳ.2.1 Force Transmission and Hydrodynamics 30
Ⅳ.2.2 Locomotion for Minimizing Downward Drag 31
Ⅳ.3 Design and Fabrication 32
Ⅳ.3.1 Jumping Mechanism of Robots 32
Ⅳ.3.2 Fabrication Process with Multi-material Layered Structure 35
Ⅳ.3.3 Foot Design and Fabrication 36
Ⅳ.4 Experimental Results 38
Ⅳ.4.1 Vertical Jumping on Water Surface 38
Ⅳ.4.2 Directional Jumping on Water Surface 39
Ⅳ.4.2.1 Effects of Asymmetric Leg Length 40
Ⅳ.4.2.2 Interaction Between Drag Pad and Asymmetric Leg length 42
Ⅳ.5 Discussion and Conclusion 53
Ⅴ Conclusion 55
References 57
