Notes from Lukas’s masters thesis
https://en.wikipedia.org/wiki/Timoshenko_beam_theory
- used by Lukas as opposed to Euler Bernoulli beam theory, the difference appears to be the deformation of the beam ends which is necessary due to the softness of the silicone.
Timoshenko vs Euler-Bernoulli beam theory
https://en.wikipedia.org/wiki/Kinematics
- the branch of mechanics concerned with the motion of objects without reference to the forces which cause the motion.
- Kinematics as a field of study is often referred to as the “geometry of motion” and as such may be seen as a branch of mathematics.[4][5][6] Kinematics begins with a description of the geometry of the system and the initial conditions of known values of the position, velocity and or acceleration of various points that are a part of the system, then from geometrical arguments it can determine the position, the velocity and the acceleration of any part of the system.
Hyper Redundant Robot Mechanisms and their applications [paper]
“Hyper-redundant robots have a large or infinite number of degrees of freedom. Such robots are analogous to snakes or tentacles and are useful for operation in highly constrained environments and novel forms of locomotion.”
The kinematics of hyper-redundant robot locomotion [paper – less relevant to project]
“This paper considers the kinematics of hyper-redundant (or “serpentine”) robot locomotion over uneven solid terrain, and presents algorithms to implement a variety of “gaits”.” — Definition from this paper= Hyper-redundant robot locomotion is the process of generating net displacements of a hyper-redundant robotic mechanism via internal mechanism deformations. Actuatable wheels, tracks, or legs are not necessary.
Soft robots have, in theory, an infinite number of degrees of freedom.
Air inflated (pneumatic) balloon-like actuators have non-linear behaviour.
In 1.2 LL describes diff soft robotics – here I can reference my past work with SMA’s and EAP’s, highlighting their failures. Also the pneumatic tests.
[JF] Many of the soft robotics are designed (often bio-inspired) to do actions such as grasping, twisting, holding, etc. For BLOB I am exploring using the technique to alter a form from the inside – this could be done mechanically but with the noise issues associated with mechanical components. I need to look at electromagnetic actuators for silent motion (piezo for instance), to counter this argument. AND the actuation needs to be something difficult for an electronic component to achieve to make it relevant.