2026-09-18T18:54:57Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/270652022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Anette Hosoi.
Chan, Brian, 1980-
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2005-09-06T21:33:59Z
2005-09-06T21:33:59Z
2004
2004
http://hdl.handle.net/1721.1/27065
56803050
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.
Includes bibliographical references (leaves 65-66).
We have designed, built, and tested three novel devices that use low-Reynolds number flows for self propulsion. The three-link swimmer is designed to swim through in a free viscous fluid using cyclic flipping motion of two rigid fins attached to a rigid midsection. Robosnail 1 uses lubrication pressures underneath a flexible, sinusoidally waving boundary to generate thrust, and Robosnail 2 uses five independently controlled translating feet segments to move on a layer of 8 percent Laponite, a shear thinning clay suspension which gives it the ability to adhere to and scale inclines and inverted surfaces. The three link swimmer was found to travel up to 0.034 body lengths per four-stroke cycle, Robosnail 1 was found to move at a speed of roughly half the wave speed of the foot (measured with respect to the snail), a result consistent for wave speeds between 0 and 2 cm/s. Robosnail 2 was able to move forward at all inclines from zero to 180 degrees inverted, with back-slip ranging from 40 to 80 percent.
by Brian Chan.
S.M.
66 leaves
3062648 bytes
3068973 bytes
application/pdf
application/pdf
en_US
Massachusetts Institute of Technology
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
Mechanical Engineering.
Propulsion devices for locomotion at low-Reynolds number
Thesis
application/pdf
false
Publication
unknown
unknown
<Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="c98de728-e650-413c-87fb-b8c78e19bf9a">
<Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type>
<Language>en_US</Language>
<Title>Propulsion devices for locomotion at low-Reynolds number</Title>
<PublishedIn>
<Publication>
</Publication>
</PublishedIn>
<PublicationDate>2004</PublicationDate>
<Authors>
<Author>
<DisplayName>Chan, Brian, 1980-</DisplayName>
<Affiliation>
<OrgUnit>
</OrgUnit>
</Affiliation>
</Author>
</Authors>
<Editors>
</Editors>
<Publishers>
<Publisher>
<DisplayName>Massachusetts Institute of Technology</DisplayName>
<OrgUnit />
</Publisher>
</Publishers>
<License>http://dspace.mit.edu/handle/1721.1/7582</License>
<Keyword>Mechanical Engineering.</Keyword>
<Abstract>We have designed, built, and tested three novel devices that use low-Reynolds number flows for self propulsion. The three-link swimmer is designed to swim through in a free viscous fluid using cyclic flipping motion of two rigid fins attached to a rigid midsection. Robosnail 1 uses lubrication pressures underneath a flexible, sinusoidally waving boundary to generate thrust, and Robosnail 2 uses five independently controlled translating feet segments to move on a layer of 8 percent Laponite, a shear thinning clay suspension which gives it the ability to adhere to and scale inclines and inverted surfaces. The three link swimmer was found to travel up to 0.034 body lengths per four-stroke cycle, Robosnail 1 was found to move at a speed of roughly half the wave speed of the foot (measured with respect to the snail), a result consistent for wave speeds between 0 and 2 cm/s. Robosnail 2 was able to move forward at all inclines from zero to 180 degrees inverted, with back-slip ranging from 40 to 80 percent.</Abstract>
<Access xmlns="http://purl.org/coar/access_right"
>
</Access>
</Publication>