Thesis
CHARACTERIZATION OF MAGNETICALLY ACTUATED SOFT ROBOTS CENTIPEDE SHAPE INSPIRED
Washington State University
Master of Science (MS), Washington State University
01/2022
DOI:
https://doi.org/10.7273/000004485
Handle:
https://hdl.handle.net/2376/123738
Abstract
Traditional robots are made of rigid structures, which often can become an operational constraint when walking thin paths or maneuvering delicate items. Soft robots can be a more coherent option in these situations because they are built using flexible and resilient smart materials, such as elastomers and gels. Smart materials can alter their shape and properties when subject to external stimuli, such as magnetic fields, electric fields, heat, chemical reactions, pressure variation, light, or photonic processes. Soft robots present many advantageous attributes, such as lightness, compactness, and biocompatibility, but they usually do not offer precise motion control. Magnetic fields are an excellent method of untethered actuation due to their ability to penetrate various materials and provide fast responses without physical attachment. Two different bioinspired soft robots were tested using magnetic actuation. Characterization and analyses of their locomotion modes and behavior were performed and compared. Robots successfully lifted and carried payloads twelve times their body weight, proving to be noticeably effective for untethered applications.
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Details
- Title
- CHARACTERIZATION OF MAGNETICALLY ACTUATED SOFT ROBOTS CENTIPEDE SHAPE INSPIRED
- Creators
- Luiz Longo
- Contributors
- Roland Chen (Advisor)Kaiyan Qiu (Committee Member)John Swensen (Committee Member)
- Awarding Institution
- Washington State University
- Academic Unit
- School of Mechanical and Materials Engineering
- Theses and Dissertations
- Master of Science (MS), Washington State University
- Publisher
- Washington State University
- Number of pages
- 92
- Identifiers
- 99900882138901842
- Language
- English
- Resource Type
- Thesis