A Discretely Assembled Walking Motor

Langford, Will

doi:10.1109/marss.2019.8860989

Cited by 3 publications

(2 citation statements)

References 23 publications

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“…One is using closed-loop systems with higher torque platforms, but with that will come greater mass, which scales almost linearly with required motor torque. 67 Other interesting alternative is exploring the potential in distributed actuation, which has been tested for discretely assembled microrobots 68 and larger-scale morphing structures. 69 The biomechanics of muscle remain constant across length scales, 70 and while our structural system is scalable, the ability to change shape at larger scales may quickly exceed commercially available centralized actuation sources.…”

Section: Conclusion and Discussionmentioning

confidence: 99%

Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures

et al. 2023

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In this study, we present a method to construct meter-scale deformable structures for underwater robotic applications by discretely assembling mechanical metamaterials. We address the challenge of scaling up nature-like deformable structures while remaining structurally efficient by combining rigid and compliant facets to form custom unit cells that assemble into lattices. The unit cells generate controlled local anisotropies that architect the global deformation of the robotic structure. The resulting flexibility allows better unsteady flow control that enables highly efficient propulsion and optimized force profile manipulations. We demonstrate the utility of this approach in two models. The first is a morphing beam snake-like robot that can generate thrust at specific anguilliform swimming parameters. The second is a morphing surface hydrofoil that, when compared with a rigid wing at the same angles of attack (AoAs), can increase the lift coefficient up to 0.6. In addition, in lower AoAs, the ratio improves by 5 times, whereas in higher angles it improves by 1.25 times. The resulting hydrodynamic performance demonstrates the potential to achieve accessible, scalable, and simple to design and assemble morphing structures for more efficient and effective future ocean exploration and exploitation.

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Section: Conclusion and Discussionmentioning

confidence: 99%

Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures

et al. 2023

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“…While this work presented mechanical metamaterials, discretely assembled electromagnetic materials have been previously demonstrated. Passive and conductive parts have been assembled into heterogeneous, functioning 3D circuitry (33), and rigid, flexural, and actuated building block parts were used to assemble modular microrobots (34). These are millimeter-to-centimeter scale parts, and the extension of this approach to larger scales is expected to enable, mesoscale cellular robots.…”

Section: Discussionmentioning

confidence: 99%

Discretely assembled mechanical metamaterials

et al. 2020

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Mechanical metamaterials offer exotic properties based on local control of cell geometry and their global configuration into structures and mechanisms. Historically, these have been made as continuous, monolithic structures with additive manufacturing, which affords high resolution and throughput, but is inherently limited by process and machine constraints. To address this issue, we present a construction system for mechanical metamaterials based on discrete assembly of a finite set of parts, which can be spatially composed for a range of properties such as rigidity, compliance, chirality, and auxetic behavior. This system achieves desired continuum properties through design of the parts such that global behavior is governed by local mechanisms. We describe the design methodology, production process, numerical modeling, and experimental characterization of metamaterial behaviors. This approach benefits from incremental assembly, which eliminates scale limitations, best-practice manufacturing for reliable, low-cost part production, and interchangeability through a consistent assembly process across part types.

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