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Bistable Structures Enable Passive Transitions in Mobile Robots
Bistable Structures Enable Passive Transitions in Mobile Robots
상세정보
- 자료유형
- 학위논문 서양
- 최종처리일시
- 20250211152712
- ISBN
- 9798384025832
- DDC
- 629.8
- 저자명
- Weakly, Jessica.
- 서명/저자
- Bistable Structures Enable Passive Transitions in Mobile Robots
- 발행사항
- [Sl] : University of Pennsylvania, 2024
- 발행사항
- Ann Arbor : ProQuest Dissertations & Theses, 2024
- 형태사항
- 224 p
- 주기사항
- Source: Dissertations Abstracts International, Volume: 86-02, Section: B.
- 주기사항
- Advisor: Sung, Cynthia.
- 학위논문주기
- Thesis (Ph.D.)--University of Pennsylvania, 2024.
- 초록/해제
- 요약Making robots more capable, agile, and efficient will require careful design of the robot's mechanical body to match task requirements. Passive components allow a robot to perform a task without a dedicated actuator, often improving both power consumption and overall performance. In this thesis, we investigate robotic applications of bistable mechanisms, mechanical structures that exhibit two stable static equilibria, to enable passive actuation and locking for systems with discrete task modes.More specifically, the main theoretical contribution of this thesis is a method for determining the actuation force requirements for dynamically-actuated bistable mechanisms, where inertial forces are responsible for producing snap-through. In this case, there is a direct relationship between the inertial forces and the output force of the actuators that produce the associated motions. We find that the minimum actuating force required for snap-through depends on the ratio between the mass on the bistable structure and the robot's total mass, and that it also depends on friction but not on viscous damping. The main experimental contribution includes demonstrations of the impact of bistable mechanisms on grasping and flying systems. For perching, we show that attaching a linkage to a passive bistable structure augments a gripper's locking strength, leading to passive grasping with a high strength-to-weight ratio. For aerial reconfiguration, we demonstrate that the energy cost of passive dynamic transformation can be offset by the efficiency gains of transforming from a quadrotor to a fixed wing mode. Overall, this thesis shows that passive bistable mechanisms can eliminate the need for task-specific actuators by repurposing existing locomotion actuators.
- 일반주제명
- Robotics
- 일반주제명
- Mechanical engineering
- 일반주제명
- Engineering
- 일반주제명
- Computer science
- 일반주제명
- Information technology
- 키워드
- Soft robotics
- 키워드
- Mobile robots
- 기타저자
- University of Pennsylvania Mechanical Engineering and Applied Mechanics
- 기본자료저록
- Dissertations Abstracts International. 86-02B.
- 전자적 위치 및 접속
- 로그인 후 원문을 볼 수 있습니다.
MARC
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■00520250211152712
■006m o d
■007cr#unu||||||||
■020 ▼a9798384025832
■035 ▼a(MiAaPQ)AAI31488724
■040 ▼aMiAaPQ▼cMiAaPQ
■0820 ▼a629.8
■1001 ▼aWeakly, Jessica.
■24510▼aBistable Structures Enable Passive Transitions in Mobile Robots
■260 ▼a[Sl]▼bUniversity of Pennsylvania▼c2024
■260 1▼aAnn Arbor▼bProQuest Dissertations & Theses▼c2024
■300 ▼a224 p
■500 ▼aSource: Dissertations Abstracts International, Volume: 86-02, Section: B.
■500 ▼aAdvisor: Sung, Cynthia.
■5021 ▼aThesis (Ph.D.)--University of Pennsylvania, 2024.
■520 ▼aMaking robots more capable, agile, and efficient will require careful design of the robot's mechanical body to match task requirements. Passive components allow a robot to perform a task without a dedicated actuator, often improving both power consumption and overall performance. In this thesis, we investigate robotic applications of bistable mechanisms, mechanical structures that exhibit two stable static equilibria, to enable passive actuation and locking for systems with discrete task modes.More specifically, the main theoretical contribution of this thesis is a method for determining the actuation force requirements for dynamically-actuated bistable mechanisms, where inertial forces are responsible for producing snap-through. In this case, there is a direct relationship between the inertial forces and the output force of the actuators that produce the associated motions. We find that the minimum actuating force required for snap-through depends on the ratio between the mass on the bistable structure and the robot's total mass, and that it also depends on friction but not on viscous damping. The main experimental contribution includes demonstrations of the impact of bistable mechanisms on grasping and flying systems. For perching, we show that attaching a linkage to a passive bistable structure augments a gripper's locking strength, leading to passive grasping with a high strength-to-weight ratio. For aerial reconfiguration, we demonstrate that the energy cost of passive dynamic transformation can be offset by the efficiency gains of transforming from a quadrotor to a fixed wing mode. Overall, this thesis shows that passive bistable mechanisms can eliminate the need for task-specific actuators by repurposing existing locomotion actuators.
■590 ▼aSchool code: 0175.
■650 4▼aRobotics
■650 4▼aMechanical engineering
■650 4▼aEngineering
■650 4▼aComputer science
■650 4▼aInformation technology
■653 ▼aBistable structures
■653 ▼aCompliant mechanisms
■653 ▼aMechanical design
■653 ▼aSoft robotics
■653 ▼aMobile robots
■690 ▼a0771
■690 ▼a0548
■690 ▼a0537
■690 ▼a0984
■690 ▼a0489
■71020▼aUniversity of Pennsylvania▼bMechanical Engineering and Applied Mechanics.
■7730 ▼tDissertations Abstracts International▼g86-02B.
■790 ▼a0175
■791 ▼aPh.D.
■792 ▼a2024
■793 ▼aEnglish
■85640▼uhttp://www.riss.kr/pdu/ddodLink.do?id=T17163468▼nKERIS▼z이 자료의 원문은 한국교육학술정보원에서 제공합니다.
