Contributions to the mechatronics design engineering of zoomorphic mobile robots bio-inspired by arthropods and caterpillars
This thesis presents the engineering design of mechatronic systems, emphasizing on zoomorphic robots inspired by arthropods—organisms renowned for their biomechanical features. The research encompasses a comprehensive state-of-the-art, observational studies, and the development of novel computationa...
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| Tipo de recurso: | tesis doctoral |
| Estado: | Versión aceptada para publicación |
| Fecha de publicación: | 2024 |
| País: | España |
| Institución: | Universidad de Burgos (UBU) |
| Repositorio: | Repositorio Institucional de la Universidad de Burgos (RIUBU) |
| OAI Identifier: | oai:riubu.ubu.es:10259/10415 |
| Acceso en línea: | http://hdl.handle.net/10259/10415 |
| Access Level: | acceso embargado |
| Palabra clave: | Biomimetic engineering Bio-inspired robot Mechatronics design Biomechanics Robot locomotion Ingeniería biomimética Robot bioinspirado Diseño mecatrónico Biomecánica Locomoción robótica Mecatrónica Robots Bioingeniería Mechatronics Bioengineering 3313.15 Diseño de Máquinas 2406.04 Biomecánica 1203.09 Diseño Con Ayuda del Ordenador 3311.14 Servomecanismos |
| Sumario: | This thesis presents the engineering design of mechatronic systems, emphasizing on zoomorphic robots inspired by arthropods—organisms renowned for their biomechanical features. The research encompasses a comprehensive state-of-the-art, observational studies, and the development of novel computational methodologies. The objectives are threefold: (i) to conduct a systematic review of arthropod-inspired robots, classified taxonomically and categorized by morphology, degrees of freedom, actuation mechanisms, modularity, and environmental adaptability; (ii) to standardize the mechanical configuration of kinematic chains of caterpillars through a geometric algorithm derived from experimental observations; and (iii) to develop the kinematic and dynamic analyses to simulate the behavior of bioinspired robotic caterpillar during inching-locomotion, resulting in actuator selection. This work highlights “arthrobotics” as an interdisciplinary field integrating arthropod biomechanics with robotics, fostering innovative methodologies for biomechatronic design with applications spanning industrial assembly tasks and planetary exploration. |
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