2026-09-19T05:17:41Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/544852022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Martin Culpepper.
Utz, Robert (Robert C.)
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2010-04-28T15:40:58Z
2010-04-28T15:40:58Z
2009
2009
http://hdl.handle.net/1721.1/54485
558536185
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 52).
This thesis develops a thermodynamic simulation of the melting and solidification of a substance resting on a surface. The simulation was created in an effort to develop a single actuator joint locking and unlocking mechanism for Squishbot. The Squishbot is a proposed robot that has the ability to climb walls and change shape in order to gain entry into normally inaccessible areas. By using COMSOL Multiphysics, a simple model was developed and tested. Under these conditions, the solder melting phase transition took 2.25 seconds to melt and 2.65 seconds to solidify. These results, as well as observations about the behavior of the program's numerical solver, seem to suggest that the proposed joint locking system is feasible. A framework is laid out to proceed with improved and more specific models for use as an optimization tool.
by Robert Utz.
S.B.
52 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Thermodynamic modeling of solder melting and solidification for proposed squishbot design
Thesis
application/pdf
Publication
unknown
unknown
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<Abstract>This thesis develops a thermodynamic simulation of the melting and solidification of a substance resting on a surface. The simulation was created in an effort to develop a single actuator joint locking and unlocking mechanism for Squishbot. The Squishbot is a proposed robot that has the ability to climb walls and change shape in order to gain entry into normally inaccessible areas. By using COMSOL Multiphysics, a simple model was developed and tested. Under these conditions, the solder melting phase transition took 2.25 seconds to melt and 2.65 seconds to solidify. These results, as well as observations about the behavior of the program's numerical solver, seem to suggest that the proposed joint locking system is feasible. A framework is laid out to proceed with improved and more specific models for use as an optimization tool.</Abstract>
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