The methods of analysis of biologists profoundly differs from the ones of engineers, mainly because of their different interests and goals. The objective of this paper is to introduce a new approach for the study and comparison between biological species, giving a mechanical point of view to the analysis to make it suitable for engineers nowadays deeply interested in bio-inspired solutions in the robotic field. The approach follows the modelling of the jaws of seven species of fishes, profoundly different one from the other in shape, dimension and behaviors, as four-bar linkage mechanisms. The models are planar rather than spatial, where the fundamental muscles responsible for the opening and closing of the jaws are the inputs of the structures, while the jaws themselves which open and close are the outputs. The paper follows the modelling of all the species and the comparison on the basis of the mechanical features chosen during the analysis, fundamental for the implementation of a gripper. The one species with the overall most suited parameters is selected and the gripper is printed out once its bodies are modelled in 3D. Finally, grasping tests are successfully carried out with objects different in material, shape, dimension and stiffness, demonstrating the validity of the approach.
I metodi di analisi dei biologi differiscono completamente da quelli degli ingegneri, principalmente a causa dei loro diversi interessi. L’obiettivo di questo lavoro di tesi è quello di introdurre un approccio innovativo per lo studio e il confronto tra diverse specie biologiche, dando un punto di vista meccanico all'analisi e renderla adatta a soluzioni bio-ispirate nel campo della robotica. L'approccio si basa sulla modellazione delle mascelle di sette specie di pesci, molto diverse l'una dall'altra per forma, dimensione e comportamenti, come meccanismi a quattro barre. I modelli sono planari piuttosto che spaziali, dove i muscoli fondamentali responsabili dell'apertura e della chiusura delle mascelle sono gli input delle strutture, mentre le mascelle stesse che si aprono e si chiudono sono gli output. Il lavoro segue la modellazione di tutte le specie e il confronto sulla base delle caratteristiche meccaniche scelte in fase di analisi, fondamentali per la realizzazione di una pinza. E’ selezionata l'unica specie con i parametri complessivamente più adatti e la pinza viene stampata una volta che le sue parti sono state modellate in 3D. Infine, sono state effettuate con successo prove di presa con oggetti diversi per materiale, forma, dimensione e rigidezza, a dimostrazione della validità dell'approccio.
A mechanical approach for comparing marine species to develop bio-inspired grippers
TROTTA, FEDERICA
2021/2022
Abstract
The methods of analysis of biologists profoundly differs from the ones of engineers, mainly because of their different interests and goals. The objective of this paper is to introduce a new approach for the study and comparison between biological species, giving a mechanical point of view to the analysis to make it suitable for engineers nowadays deeply interested in bio-inspired solutions in the robotic field. The approach follows the modelling of the jaws of seven species of fishes, profoundly different one from the other in shape, dimension and behaviors, as four-bar linkage mechanisms. The models are planar rather than spatial, where the fundamental muscles responsible for the opening and closing of the jaws are the inputs of the structures, while the jaws themselves which open and close are the outputs. The paper follows the modelling of all the species and the comparison on the basis of the mechanical features chosen during the analysis, fundamental for the implementation of a gripper. The one species with the overall most suited parameters is selected and the gripper is printed out once its bodies are modelled in 3D. Finally, grasping tests are successfully carried out with objects different in material, shape, dimension and stiffness, demonstrating the validity of the approach.File | Dimensione | Formato | |
---|---|---|---|
2022_07_Trotta_01.pdf
accessibile in internet per tutti
Descrizione: tesi formato articolo
Dimensione
4.73 MB
Formato
Adobe PDF
|
4.73 MB | Adobe PDF | Visualizza/Apri |
2022_07_Trotta_02.pdf
accessibile in internet per tutti
Descrizione: executive summary
Dimensione
1.51 MB
Formato
Adobe PDF
|
1.51 MB | Adobe PDF | Visualizza/Apri |
I documenti in POLITesi sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
https://hdl.handle.net/10589/190466