FabricWorm: A Biologically-Inspired Robot That Demonstrates Structural Advantages of a Soft Exterior for Peristaltic Locomotion
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Case Western Reserve University School of Graduate Studies / OhioLINK
2017
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| Online Access: | http://rave.ohiolink.edu/etdc/view?acc_num=case1493900162956628 |
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ndltd-OhioLink-oai-etd.ohiolink.edu-case14939001629566282021-08-03T07:02:19Z FabricWorm: A Biologically-Inspired Robot That Demonstrates Structural Advantages of a Soft Exterior for Peristaltic Locomotion Mehringer, Anna G. Mechanical Engineering worm robot stiffness softness fabric earthworms mesh structure Earthworms are particularly skilled at navigating through confined spaces. Therefore, creating a soft robot that mimics their peristaltic locomotion could provide unique advantages for pipe inspection, search and rescue, exploration, and medical applications. This thesis presents the design of a new robot, FabricWorm, that like its predecessor, CMMWorm, has six segments that are sequentially actuated with circumferential cables to mimic the peristaltic motion in an earthworm. The sequential actuation of segments results in locomotion at 40.2 cm/min on silicon paper, which is faster than CMMWorm. The FabricWorm has a fully retracted length of 67 cm and a diameter of 21 cm. FabricWorm is 41% softer, is 23% lighter, and has 64% fewer 3D printed parts than CMMWorm. The purpose of this robot is to develop new principles for using fabric in soft robotics, which could be especially valuable for future robots due to the soft and flexible, yet durable nature of fabric. 2017-06-02 English text Case Western Reserve University School of Graduate Studies / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=case1493900162956628 http://rave.ohiolink.edu/etdc/view?acc_num=case1493900162956628 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws. |
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NDLTD |
| language |
English |
| sources |
NDLTD |
| topic |
Mechanical Engineering worm robot stiffness softness fabric earthworms mesh structure |
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Mechanical Engineering worm robot stiffness softness fabric earthworms mesh structure Mehringer, Anna G. FabricWorm: A Biologically-Inspired Robot That Demonstrates Structural Advantages of a Soft Exterior for Peristaltic Locomotion |
| author |
Mehringer, Anna G. |
| author_facet |
Mehringer, Anna G. |
| author_sort |
Mehringer, Anna G. |
| title |
FabricWorm: A Biologically-Inspired Robot That Demonstrates Structural Advantages of a Soft Exterior for Peristaltic Locomotion |
| title_short |
FabricWorm: A Biologically-Inspired Robot That Demonstrates Structural Advantages of a Soft Exterior for Peristaltic Locomotion |
| title_full |
FabricWorm: A Biologically-Inspired Robot That Demonstrates Structural Advantages of a Soft Exterior for Peristaltic Locomotion |
| title_fullStr |
FabricWorm: A Biologically-Inspired Robot That Demonstrates Structural Advantages of a Soft Exterior for Peristaltic Locomotion |
| title_full_unstemmed |
FabricWorm: A Biologically-Inspired Robot That Demonstrates Structural Advantages of a Soft Exterior for Peristaltic Locomotion |
| title_sort |
fabricworm: a biologically-inspired robot that demonstrates structural advantages of a soft exterior for peristaltic locomotion |
| publisher |
Case Western Reserve University School of Graduate Studies / OhioLINK |
| publishDate |
2017 |
| url |
http://rave.ohiolink.edu/etdc/view?acc_num=case1493900162956628 |
| work_keys_str_mv |
AT mehringerannag fabricwormabiologicallyinspiredrobotthatdemonstratesstructuraladvantagesofasoftexteriorforperistalticlocomotion |
| _version_ |
1719452161829502976 |