Pouch motors : printable pneumatic actuators for foldable robotics
Name
931081329-MIT.pdf
Description
Full printable version
Size
13.35 MB
Format
Adobe PDF
Checksum (MD5)
ed80bac3ff07631e0356a7814365d37e
Author(s)
Sun, Xu, S.M. Massachusetts Institute of Technology
Advisor(s)
Sangbae Kim.
Alternative Title
Printable pneumatic actuators for foldable robotics
Date Issued
2015
Publisher
Massachusetts Institute of Technology
Abstract
We envision future electro-mechanical devices can be printed on planer structures and folded autonomously for robotic applications. This thesis project is devoted for the development of self-folding and actuation of such robots, with a novel actuator called pouch motors. Pouch motors is a family of printable pneumatic actuators in the pouch form that drives motion with inflations and deflations. It is customizable in design, inexpensive to fabricate and planer in nature, making it ideal for origami inspired robots. In the first half of this thesis, Pouch motor's actuation mechanisms with theoretical and experimental assessments are introduced. Design and fabrication work flows are described. In the second half of the thesis, different configurations of pouch motors are presented not only for robot self-folding, but also for applications in human computer interaction. The thesis highlights the robotic garden project as a representative example, bringing a discussion of future development.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2015.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 91-94).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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