Дисертації з теми "Soft robots material and design"
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Winters, Amy. "Why does soft matter? : exploring the design space of soft robotic materials and programmable machines." Thesis, Royal College of Art, 2017. http://researchonline.rca.ac.uk/2842/.
Повний текст джерелаYing, Min. "A Soft-Body Interconnect For Self-Reconfigurable Modular Robots." Digital WPI, 2014. https://digitalcommons.wpi.edu/etd-theses/234.
Повний текст джерелаPajon, Adrien. "Humanoid robots walking with soft soles." Thesis, Montpellier, 2017. http://www.theses.fr/2017MONTS060/document.
Повний текст джерелаWhen unexpected changes of the ground surface occur while walking, the human central nervous system needs to apply appropriate control actions to assure dynamic stability. Many studies in the motor control field have investigated the mechanisms of such a postural control and have widely described how center of mass (COM) trajectories, step patterns and muscle activity adapt to avoid loss of balance. Measurements we conducted show that when stepping over a soft ground, participants actively modulated the ground reaction forces (GRF) under the supporting foot in order to exploit the elastic and compliant properties of the surface to dampen the impact and to likely dissipate the mechanical energy accumulated during the ‘fall’ onto the new compliant surface.In order to control more efficiently the feet-ground interaction of humanoid robots during walking, we propose adding outer soft (i.e. compliant) soles to the feet. They absorb impacts and cast ground unevenness during locomotion on rough terrains. However, they introduce passive degrees of freedom (deformations under the feet) that complexify the tasks of state estimation and overall robot stabilization. To address this problem, we devised a new walking pattern generator (WPG) based on a minimization of the energy consumption that offers the necessary parameters to be used jointly with a sole deformation estimator based on finite element model (FEM) of the soft sole to take into account the sole deformation during the motion. Such FEM computation is time costly and inhibit online reactivity. Hence, we developed a control loop that stabilizes humanoid robots when walking with soft soles on flat and uneven terrain. Our closed-loop controller minimizes the errors on the center of mass (COM) and the zero-moment point (ZMP) with an admittance control of the feet based on a simple deformation estimator. We demonstrate its effectiveness in real experiments on the HRP-4 humanoid walking on gravels
Marchese, Andrew D. (Andrew Dominic). "Design, fabrication, and control of soft robots with fluidic elastomer actuators." Thesis, Massachusetts Institute of Technology, 2015. http://hdl.handle.net/1721.1/97807.
Повний текст джерелаCataloged from PDF version of thesis.
Includes bibliographical references (pages 223-236).
The goal of this thesis is to explore how autonomous robotic systems can be created with soft elastomer bodies powered by fluids. In this thesis we innovate in the design, fabrication, control, and experimental validation of both single and multi-segment soft fluidic elastomer robots. First, this thesis describes an autonomous fluidic elastomer robot that is both self-contained and capable of rapid, continuum body motion. Specifically, the design, modeling, fabrication, and control of a soft fish is detailed, focusing on enabling the robot to perform rapid escape responses. The robot employs a compliant body with embedded actuators emulating the slender anatomical form of a fish. In addition, the robot has a novel fluidic actuation system that drives body motion and has all the subsystems of a traditional robot on-board: power, actuation, processing, and control. At the core of the fish's soft body is an array of Fluidic Elastomer Actuators (FEAs). The fish is designed to emulate escape responses in addition to forward swimming because such maneuvers require rapid body accelerations and continuum body motion. These maneuvers showcase the performance capabilities of this self-contained robot. The kinematics and controllability of the robot during simulated escape response maneuvers are analyzed and compared to studies on biological fish. During escape responses, the soft-bodied robot is shown to have similar input-output relationships to those observed in biological fish. The major implication of this portion of the thesis is that a soft fluidic elastomer robot is shown to be both self-contained and capable of rapid body motion. Next, this thesis provides an approach to planar manipulation using soft fluidic elastomer robots. That is, novel approaches to design, fabrication, kinematic modeling, power, control, and planning as well as extensive experimental evaluations with multiple manipulator prototypes are presented. More specifically, three viable manipulator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their actuator structures, namely: ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax- based casting. Furthermore, two ways of fabricating a multiple DOF manipulator are explored: casting the complete manipulator as a whole, and casting single DOF segments with subsequent concatenation. An approach to closed-loop configuration control is presented using a piecewise constant curvature kinematic model, real-time localization data, and novel fluidic drive cylinders which power actuation. Multi-segment forward and inverse kinematic algorithms are developed and combined with the configuration controller to provide reliable task-space position control. Building on these developments, a suite of task-space planners are presented to demonstrate new autonomous capabilities from these soft robots such as: (i) tracking a path in free-space, (ii) maneuvering in confined environments, and (iii) grasping and placing objects. Extensive evaluations of these capabilities with physical prototypes demonstrate that manipulation with soft fluidic elastomer robots is viable. Lastly, this thesis presents a robotic manipulation system capable of autonomously positioning a multi-segment soft fluidic elastomer robot in three dimensions while subject to the self-loading effects of gravity. Specifically, an extremely soft robotic manipulator morphology that is composed entirely from low durometer elastomer, powered by pressurized air, and designed to be both modular and durable is presented. To understand the deformation of a single arm segment, a static physics-based model is developed and experimentally validated. Then, to kinematically model the multi-segment manipulator, a piece-wise constant curvature assumption consistent with more traditional continuum manipulators is used. Additionally, a complete fabrication process for this new manipulator is defined and used to make multiple functional prototypes. In order to power the robot's spatial actuation, a high capacity fluidic drive cylinder array is implemented, providing continuously variable, closed-circuit gas delivery. Next, using real-time localization data, a processing and control algorithm is developed that generates realizable kinematic curvature trajectories and controls the manipulator's configuration along these trajectories. A dynamic model for this multi-body fluidic elastomer manipulator is also developed along with a strategy for independently identifying all unknown components of the system: the soft manipulator, its distributed fluidic elastomer actuators, as well as its drive cylinders. Next, using this model and trajectory optimization techniques locally-optimal, open-loop control policies are found. Lastly, new capabilities offered by this soft fluidic elastomer manipulation system are validated with extensive physical experiments. These are: (i) entering and advancing through confined three-dimensional environments, (ii) conforming to goal shape-configurations within a sagittal plane under closed-loop control, and (iii) performing dynamic maneuvers we call grabs.
by Andrew D. Marchese.
Ph. D.
Dotson, Zachary S. "Material selection for the actuator design for a biomimetic rolling robot conducive to miniaturization /." Online version of thesis, 2009. http://hdl.handle.net/1850/10658.
Повний текст джерелаLum, Guo Zhan. "Optimal Design of Miniature Flexural and Soft Robotic Mechanisms." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1090.
Повний текст джерелаYang, Hee Doo. "Design, Manufacturing, and Control of Soft and Soft/Rigid Hybrid Pneumatic Robotic Systems." Diss., Virginia Tech, 2019. http://hdl.handle.net/10919/100635.
Повний текст джерелаDoctor of Philosophy
Shaheen, Robert. "Design and Material Characterization of a Hyperelastic Tubular Soft Composite." Thesis, Université d'Ottawa / University of Ottawa, 2017. http://hdl.handle.net/10393/36117.
Повний текст джерелаSakai, Satoru. "Design and Evaluation of a Heavy Material Handling Manipulator for Agricultural Robots." Kyoto University, 2003. http://hdl.handle.net/2433/149010.
Повний текст джерела0048
新制・課程博士
博士(農学)
甲第10287号
農博第1359号
新制||農||870(附属図書館)
学位論文||H15||N3808(農学部図書室)
UT51-2003-H708
京都大学大学院農学研究科地域環境科学専攻
(主査)教授 梅田 幹雄, 教授 笈田 昭, 助教授 大須賀 公一
学位規則第4条第1項該当
Bodily, Daniel Mark. "Design Optimization and Motion Planning For Pneumatically-Actuated Manipulators." BYU ScholarsArchive, 2017. https://scholarsarchive.byu.edu/etd/6289.
Повний текст джерелаDávila, Vilchis Juana Mariel. "MOSAR: A Soft-Assistive Mobilizer for Upper Limb Active Use and Rehabilitation." Tesis de doctorado, Universidad Autónoma del Estado de México, 2020. http://hdl.handle.net/20.500.11799/110472.
Повний текст джерелаHahn, Phyllis. "Flex : Exploring flexibility through solid and soft materials in woven structures." Thesis, Högskolan i Borås, Akademin för textil, teknik och ekonomi, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:hb:diva-15196.
Повний текст джерелаBjörklund, Linnea. "Knock on Wood : Does Material Choice Change the Social Perception of Robots?" Thesis, KTH, Robotik, perception och lärande, RPL, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-232365.
Повний текст джерелаDenna uppsats undersöker huruvida det finns en skillnad i hur socialt interaktiva robotar uppfattas baserat på vilket material de är tillverkade i. Två studier gjordes för att ta reda på detta: En pilotstudie som skedde fysiskt, och huvudstudien skedde online. Deltagarna ombads att skatta tre versioner av samma robotdesign, där en var byggd i trä, en i plast och en täckt i päls. Dessa användes sedan i två studier för att bedöma deltagarnas uppfattning av robotarnas kompetens, värme och obehag, samt skillnaderna i dessa mellan de tre materialen. Statistiskt signifikanta skillnader hittades i uppfattningen av värme och obehag.
Davila, Stephen Juan. "Design and Development of Soft Landing Ion Mobility: A Novel Instrument for Preparative Material Development." Thesis, University of North Texas, 2011. https://digital.library.unt.edu/ark:/67531/metadc84197/.
Повний текст джерелаEl, asswad Mohamad. "Nouvelles méthodologies pour les robots humanoïdes intégrés hydrauliques légers." Thesis, Université Paris-Saclay (ComUE), 2018. http://www.theses.fr/2018SACLV023.
Повний текст джерелаModern researches have been inducted in the implementation of a compact and lightweight hydraulically actuated humanoid robotic systems, using the technology of hydraulic integration. In the a eld, researchers have applied recent technologies starting from advanced machining methodologies and ending with additive manufacturing of me-tals. Despite, these methodologies have shown inconvenient points related to cost, time and weight of the obtained mechanism. This motivates the research of new methodologies toward developing compact, cost effective and light-weight hydraulic integrated robotics mechanisms, which are discussed in this thesis.This thesis represents new methodologies toward fabricating mechanical components of the hydraulic actuated humanoid robots. This starts with the classical structural parts which will be fabricated using additive manufacturing of composite materials. Then, the hard task comes. Two new methodologies are proposed to obtain hydraulic integra-ted components with lightweight, high strength and with low time and cost. The rst methodology is by combining the additive manufacturing of thermoplastics polymers and the simple forming of random carbon ber composites. While, the second methodology proposes the usage of silicone pipes instead of the printed thermoplastics, keeping the same reinforcement material. The two methodologies are explained step by step and applied to the arm of HYDRO•D robot. Lately, a new lightweight composite hydraulic actuator is developed to replace the heavy weight metallic one. This is using a developed procedure starting from stress model, passing by an optimization process and ending with the mechatronic design. Then, this hydraulic actuator is implemented and tested. This is applied to the knee joint of the robot and generalized to all the robot joints. By the end of this thesis, an important conclusion will be drawn and the perspective of the research will be settled for further development
Horchler, Andrew de Salle. "Design of Stochastic Neural-inspired Dynamical Architectures: Coordination and Control of Hyper-redundant Robots." Case Western Reserve University School of Graduate Studies / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=case1459442036.
Повний текст джерелаXu, Shang. "Investigations into the Form and Design of an Elbow Exoskeleton Using Additive Manufacturing." Thesis, Virginia Tech, 2021. http://hdl.handle.net/10919/103204.
Повний текст джерелаMaster of Science
Wearing an exoskeleton should be easy and stress-free, but many of the available models are not ergonomic nor user-friendly. To make an exoskeleton that is inviting and comfortable to wear, various nontraditional methods are used. The arm exoskeleton prototype has a lightweight and ergonomic frame, the joints are soft and compact, the cable-driven system is safe and low-profile. This design also brings aesthetics to the exoskeleton which closes the gap between engineering and design.
Woods, Adam Xavier. "Exploring Combinatorial Libraries for Material Screening Techniques via Additive Manufacturing: Design, Fabrication, & Applications." University of Akron / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=akron1594772957272505.
Повний текст джерелаKrings, Andreas. "Iron Losses in Electrical Machines - Influence of Material Properties, Manufacturing Processes, and Inverter Operation." Doctoral thesis, KTH, Elektrisk energiomvandling, 2014. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-145243.
Повний текст джерелаQC 20140516
Perez, Sylvain. "Contribution au Dimensionnement Optimal d'Alternateur à Griffes Sans Aimant - Apport des alliages FeCo." Phd thesis, Université de Grenoble, 2013. http://tel.archives-ouvertes.fr/tel-00990653.
Повний текст джерелаRamos, Irene. "Quality perception study in sustainable materials for Volvo Cars." Thesis, Jönköping University, JTH, Industridesign, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-53172.
Повний текст джерелаEssahbi, Nabil. "Modélisation de corps mous appliquée à la commande de procédé robotisé de découpe anatomique de muscles." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2013. http://tel.archives-ouvertes.fr/tel-00957821.
Повний текст джерелаVelor, Tosan. "A Low-Cost Social Companion Robot for Children with Autism Spectrum Disorder." Thesis, Université d'Ottawa / University of Ottawa, 2020. http://hdl.handle.net/10393/41428.
Повний текст джерелаAlves, Samuel José dos Reis. "Design and Manufacturing of soft robotics mechanisms: improving the reliability of pneumatic-based solutions." Master's thesis, 2020. http://hdl.handle.net/10316/92241.
Повний текст джерелаAtualmente, os robôs operam em diversos tipos de indústria, serviços médicos e até mesmo em aplicações de lazer. Os robôs têm melhorado as suas características ao nível da velocidade, precisão e capacidade de repetição de tarefas. Contudo, os mecanismos robóticos tradicionais são normalmente constituídos por materiais rígidos, apresentando dificuldades de deformação e adaptação, principalmente no manuseamento de objetos frágeis e/ou complexos, assim como em aplicações onde o ambiente não é perfeitamente conhecido. Estas aplicações requerem um comportamento robótico complacente, tanto ao nível de software como de hardware. Assim, surge uma nova subárea da robótica, chamada soft robotics. Baseando-se em estruturas biológicas, esta assenta no desenvolvimento de componentes robóticos com materiais elásticos, flexíveis e de baixa rigidez (materiais suaves). Esta subárea comprovou apresentar potencial significativo na fabricação de grippers e manipuladores. A possibilidade de fabricar estruturas de materiais suaves, permite criar formas realísticas, diminuir o peso, lidar com um vasto número de objetos e aumentar a segurança dos equipamentos. Neste âmbito, esta dissertação apresenta o design e o processo de fabricação de um protótipo de uma mão robótica, atuada pneumaticamente, concebida com materiais suaves, parcialmente fabricados pelo processo de impressão 3D. Este conceito permite o desenvolvimento de uma mão robótica a um custo relativamente reduzido, com forma anatómica e reduzida complexidade de controlo. O estudo do comportamento dos materiais elásticos é também estudado nesta dissertação. É proposto um modelo numérico, utilizado na Análise de Elementos Finitos (FEA) para simular o comportamento da mão quando esta está atuada. Os resultados das simulações são comparados com testes experimentais, comprovando assim parcialmente a viabilidade do modelo numérico.
Nowadays, robots are used in a wide range of applications such as industrial manufacturing, medical services and even in leisure applications. Robots have substantially increased their capabilities in terms of speed, precision and task execution abilities. However, they are commonly made of rigid materials, presenting limitations in terms of deformation and adaptation when handling fragile and/or complex objects, especially when the environment is not entirely known. These applications require a complacent robot behaviour both at software and hardware level. In order to deal with such a requirement, a new robotics subarea, called soft robotics, arises. This new subarea is based on biological structures and allows a designer to create robot components, with elastic, flexible and low rigidity materials (soft materials). Soft robotics has proven its potential in the manufacture of grippers and manipulators. Soft materials provide the ability to create realistic shapes, reduced weight and increase the safety of the equipment. In this context, this dissertation presents the design and manufacture of a pneumatic robotic hand prototype made of soft materials, and partially fabricated by 3D printing. This concept allows the design and fabrication of an anthropomorphic hand at a low cost, with anatomical shape, desired compliance and reduced control complexity (since the number of actuated degrees-of-freedom is lower than the number of degrees-of-freedom of the robotic hand). There is no systematic procedure or methodology to simulate the behaviour of elastic materials. A numerical model implemented in Finite Element Analysis (FEA) is proposed to simulate the hand behaviour when it is actuated. Simulations results proved the model effectiveness when compared with experimental tests.
(8787839), Raymond Adam Bilodeau. "Designing Multifunctional Material Systems for Soft Robotic Components." Thesis, 2020.
Знайти повний текст джерелаBy using flexible and stretchable materials in place of fixed components, soft robots can materially adapt or change to their environment, providing built-in safeties for robotic operation around humans or fragile, delicate objects. And yet, building a robot out of only soft and flexible materials can be a significant challenge depending on the tasks that the robot needs to perform, for example if the robot were to need to exert higher forces (even temporarily) or self-report its current state (as it deforms unexpectedly around external objects). Thus, the appeal of multifunctional materials for soft robots, wherein the materials used to build the body of the robot also provide actuation, sensing, or even simply electrical connections, all while maintaining the original vision of environmental adaptability or safe interactions. Multifunctional material systems are explored throughout the body of this dissertation in three ways: (1) Sensor integration into high strain actuators for state estimation and closed-loop control. (2) Simplified control of multifunctional material systems by enabling multiple functions through a single input stimulus (i.e., only requiring one source of input power). (3) Presenting a solution for the open challenge of controlling both well established and newly developed thermally-responsive soft robotic materials through an on-body, high strain, uniform, Joule-heating energy source. Notably, these explorations are not isolated from each other as, for example, work towards creating a new material for thermal control also facilitated embedded sensory feedback. The work presented in this dissertation paves a way forward for multifunctional material integration, towards the end-goal of full-functioning soft robots, as well as (more broadly) design methodologies for other safety-forward or adaptability-forward technologies.
"Fundamentals of Soft, Stretchable Heat Exchanger Design." Doctoral diss., 2020. http://hdl.handle.net/2286/R.I.63012.
Повний текст джерелаDissertation/Thesis
Doctoral Dissertation Engineering 2020
Kuo, Kuan-yi, and 郭冠毅. "Design and Optimization of High-Speed Switched Reluctance Motor Using Soft Magnetic Composite Material." Thesis, 2013. http://ndltd.ncl.edu.tw/handle/ey2r36.
Повний текст джерела國立臺南大學
綠色能源科技學系碩士班
101
In this paper, an optimal design of a high-speed switched reluctance motor (SRM) with higher efficiency using the Taguchi method for household appliances has been presented. To enhance the efficiency and reduce the manufacture processes of the proposed double-salient SRM, soft magnetic composite (SMC) material is adopted. Moreover, to decrease noise and vibration of the double-salient SRM, torque ripple must be reduced; thus, the best SRM geometry should be found. To find the best geometric parameters, the Taguchi method and the finite element method (FEM) has been utilized and presented in this paper. The proposed high-speed SRM will be applied to household electric power blenders and food processors. The results have shown that the proposed SRM can achieve the design goal for higher efficiency applying to household appliances.
LI, SHIH-LIN, and 李士林. "Optimal Design a Flux-Switching PM Motor with Soft Composite Material Core for Applying to High-Speed Spindle Motor." Thesis, 2017. http://ndltd.ncl.edu.tw/handle/27hdqz.
Повний текст джерела高苑科技大學
電機工程研究所
105
Spindle motor is one of the importance core parts in many industrial machines. The performance requirements of a spindle motor are sufficient torque at high-speed operation, high power density, more wide speed range, robustness and reliability. Because of the soft composite material has fewer eddy current loss during high-frequency operation, the flux-switching permanent-magnet motor (FSPM) with the iron core of soft composite material (SMC) has the potential to become the high-speed spindle motor. Hence, the novel geometrical structure of the proposed FSPM motor with C-type SMC core (SMC-based FSPM) has been proposed in this paper. The results show the proposed SMC-based FSPM motor has potentials as a high-speed spindle motor in high-effectiveness and robustness.
Bhattacharjee, Subham. "Design, Synthesis and Applications of Novel Two-Component Gels and Soft-Nanocomposites." Thesis, 2014. http://etd.iisc.ernet.in/handle/2005/2981.
Повний текст джерела(9006635), Debkalpa Goswami. "Design and Manufacturing of Flexible Optical and Mechanical Metamaterials." Thesis, 2020.
Знайти повний текст джерелаMetamaterials
are artificially structured materials which attain their unconventional macroscopic
properties from their cellular configuration rather than their constituent
chemical composition. The judicious design of this cellular structure opens the
possibility to program and control the optical, mechanical, acoustic,
or thermal responses of metamaterials. This Ph.D. dissertation focuses on
scalable design and manufacturing strategies for optical and
mechanical metamaterials.
The fabrication of optical metamaterials still relies heavily on low-throughput process such as electron beam lithography, which is a serial technique. Thus, there is a growing need for the development of high-throughput, parallel processes to make the fabrication of optical metamaterials more accessible and cost-effective. The first part of this dissertation presents a scalable manufacturing method, termed “roll-to-roll laser induced superplasticity” (R2RLIS), for the production of flexible optical metamaterials, specifically metallic near-perfect absorbers. R2RLIS enables the rapid and inexpensive fabrication of ultra-smooth metallic nanostructures over large areas using conventional CO2 engravers or inexpensive diode lasers. Using low-cost metal/epoxy nanomolds, the minimum feature size obtained by R2RLIS was <40 nm, facilitating the rapid fabrication of flexible near-perfect absorbers at visible frequencies with the capability to wrap around non-planar surfaces.
The existing approaches for designing mechanical metamaterials are mostly ad hoc, and rely heavily on intuition and trial-and-error. A rational and systematic approach to create functional and programmable mechanical metamaterials is therefore desirable to unlock the vast design space of mechanical properties. The second part of this dissertation introduces a systematic, algorithmic design strategy based on Voronoi tessellation to create architected soft machines (ASMs) and twisting mechanical metamaterials (TMMs) with programmable motion and properties. ASMs are a new class of soft machines that benefit from their 3D-architected structure to expand the range of mechanical properties and behaviors achievable by 3D printed soft robots. On tendon-based actuation, ASMs deform according to the topologically encoded buckling of their structure to produce a wide range of motions such as contraction, twisting, bending, and cyclic motion. TMMs are a new class of chiral mechanical metamaterials which exhibit compression-twist coupling, a property absent in isotropic materials. This property manifests macroscopically and is independent of the flexible material chosen to fabricate the TMM. The nature of this compression-twist coupling can be programmed by simply tuning two design parameters, giving access to distinct twisting regimes and tunable onset of auxetic (negative Poisson’s ratio) behavior. Taking a metamaterial approach toward the design of soft machines substantially increases their number of degrees of freedom in deformation, thus blurring the boundary between materials and machines.