Zasnova mehkega biomimetičnega plavalca na osnovi bistabilnih struktur

Pfeifer, Jan Leon (author), Brojan, Miha (mentor)

V tem magistrskem delu snujemo mehkega biomimetičnega plavalca, ki sestoji iz mehkega aktuatorja in plavuti iz bistabilne strukture. Na podlagi kreativnega procesa izberemo in razvijemo koncept mehkega aktuatorja ter s parametrično numerično analizo in analitičnim modelom določimo odvisnosti deformacije nosilca od njegovih geometrijskih parametrov in časa aktuacije. Poleg končne zasnove biomimetičnega plavalca je prispevek tega magistrskega dela mehki aktuator, validiran analitični model in pojasnjena kinematika deformacije bistabilne strukture.

• Language: Slovenian
• Keywords: biomimetični plavalec, bistabilne strukture, dvosmerna togost, mehka robotika, nosilec v toku fluida
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FS - Faculty of Mechanical Engineering
• Place of publishing: Ljubljana
• Publisher: [J. L. Pfeifer]
• Year: 2023
• Number of pages: XX, 60 str.
• PID: 20.500.12556/RUL-148748
• UDC: 658.512.2:007.52:620.175:519.6(043.2)
• COBISS.SI-ID: 171293187
• Publication date in RUL: 31.08.2023

Secondary language

• Language: English
• Title: Design of a soft biomimetic swimmer based on bistable structures

Abstract

In this master thesis we design a biomimetic swimmer that comprises of a soft actuator and a flipper made out of a bistable structure. We choose and develop a concept of a soft actuator based on a creative process. We determine corelations of beam's deformation with its geometric parameters and actuation time with parametric numeric analyses and analytical model. Besides final design of biomimetic swimmer, our contribution is also a soft actuator, validated analytical model and understanding of deformation kinematics of a bistable structure.

• Keywords: biomimetic swimmer, bistable structures, bidirectional rigidity, soft robotics, beam in fluid flow