The thesis presents the design of fin shape for a soft robot swimmer. The goal of the developed shape is to create as much fluid resistance as possible in one direction of robot movement and as little as possible in the other direction. This is achieved by the shape of a thin-walled beam with an open curved cross-section. Paper is used as the test material. It is shaped into the desired form by wetting and drying. The cantilever fixed paper is loaded on each side separately so that the ratio between the forces in the push and return movements can be calculated from the maximum permissible loads. The results are used to find the best values for the shape parameters (length, width, thickness and profile radius). Other shapes of the support are also tested, and it is found that the initially assumed support is the best. A test shows that it is not necessary to process the paper before the measurements; the paper can simply be inserted into the holder, which yields the best results. Finally, an analysis of the places where the paper deforms and creases appear is carried out, and it is concluded that these places do not depend on either the width or the thickness of the paper beam.
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