| Summary: | 碩士 === 國立臺灣大學 === 機械工程學研究所 === 106 === This research focuses on the transformation of elastic two-dimensional (2D) ribbons and their utilization in three-dimensional (3D) soft robots manufacture. Soft robots can be used to complement traditional rigid robots when working with humans to ensure workplace safety. Besides, conventional industrial manufacturing technologies for 3D productions are typically geared for mass production and are pricy to customize. The first part of this paper introduces a new concept of forming 3D closed hollow shapes from 2D elastic ribbons and buckling control. The 2D precursor patterns and thickness were designed to perform complex 3D closed shapes with a hollow center. A 2D master profile 1.0 x was found, with which various elliptical 3D shapes can be built. The nonlinear buckling was rationalized through finite element analysis (FEA) which showed a good quantitative agreement with the experiments.
In the second part of this thesis, we construct the soft rotating robot by installing an active material, BMF/BMX, to the elastic material. We aim to achieve both shape deformation and rotational motion and it is able to operate in different road conditions. The shape transformable feature certainly helps the rotation in different environments including rough roads, uphill or downhill. Our robot is controlled by flowing different amount of the electric current through BMF/BMX. This changes the speed of rotation (reaction time of the BMF/BMX) and the size of shape deformation. The main advantage of the soft rotating robot is it can fall from a high position with without any damage because its elastic ring can absorb shocks from the ground. This cannot be achieved by ridged body robots. This robust fabrication should complement conventional techniques, and provide a rich arena for future studies on the mechanics and new applications of elastic hollow structures.
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