The design of scaled robotic end effectors to mimic razor clam burrowing
Name
565841871-MIT.pdf
Description
Full printable version
Size
9.32 MB
Format
Adobe PDF
Checksum (MD5)
7389f6406d8ef8d949beab5ea14f4de0
Author(s)
Bollini, Mario Attilio
Advisor(s)
Anette Hosoi.
Date Issued
2009
Publisher
Massachusetts Institute of Technology
Abstract
This thesis reviews the design of two scaled mechanical end effectors that mimic the digging of Ensis directus, the Atlantic Razor Clam. Modeled after a 0.5x Ensis scale device, the end effectors are 1.0x and 2.0x Ensis scale. The end effectors will be coupled to a pneumatic robotic actuator to explore the nondimensional relationships governing the digging dynamics of razor clams in littoral substrates. Such dynamics could be exploited to construct novel mimetic engineering devices which would provide an order-of-magnitude improvement over existing subsea burrowing and anchoring technologies.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 75).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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reproduction or distribution in any format is prohibited without written
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