Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009. / Cataloged from PDF version of thesis. / Includes bibliographical references (p. 63-64). / In this thesis, I designed and simulated an actuator mechanism for generating a moment within a compliant (soft) body system. The moment produces vibrational waves throughout a compliant material, and these vibrations are utilized to create biomimetic locomotion. The prototype actuator was developed for use in a fish tail, but it is hope that the actuation system can be applied in other robotic structures. The primary goals of this project included making gains in energy efficiency over previous embodiments, creating a compliant actuator that does not interfere with the natural body vibrations, and creating a system that can easily be modified to be used in a wide variety of soft-bodied systems. The system is also scalable to the size of the structure being actuated. / by Sean Andrew Mellott. / S.B.
| Identifer | oai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/54516 |
| Date | January 2009 |
| Creators | Mellott, Sean Andrew |
| Contributors | Kamal Youcef-Toumi., Massachusetts Institute of Technology. Dept. of Mechanical Engineering., Massachusetts Institute of Technology. Dept. of Mechanical Engineering. |
| Publisher | Massachusetts Institute of Technology |
| Source Sets | M.I.T. Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Thesis |
| Format | 64 p., application/pdf |
| Rights | M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission., http://dspace.mit.edu/handle/1721.1/7582 |
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