Monolithic design and fabrication of a 2-DOF bio-inspired leg transmission

Daniel M. Aukes, Önur Ozcan, Robert J. Wood

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

We present the design of a new two degree-of-freedom transmission intended for micro / meso-scale crawling robots which is compatible both with laminate manufacturing techniques and monolithic,"pop-up" assembly methods. This is enabled through a new design suite called "popupCAD", a computer-aided design tool which anticipates laminate manufacturing methods with a suite of operations which simplify the existing design workflow. The design has been prototyped at three times the anticpated scale to better understand the assembly and motion kinematics, and simulated to establish the basic relationships between the actuator and end-effector transmission ratios.

Original languageEnglish (US)
Title of host publicationBiomimetic and Biohybrid Systems - Third International Conference, Living Machines 2014, Proceedings
PublisherSpringer Verlag
Pages1-10
Number of pages10
ISBN (Print)9783319094342
DOIs
StatePublished - Jan 1 2014
Externally publishedYes
Event3rd International Conference on Biomimetic and Biohybrid Systems, Living Machines 2014 - Milan, Italy
Duration: Jul 30 2014Aug 1 2014

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8608 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other3rd International Conference on Biomimetic and Biohybrid Systems, Living Machines 2014
CountryItaly
CityMilan
Period7/30/148/1/14

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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  • Cite this

    Aukes, D. M., Ozcan, Ö., & Wood, R. J. (2014). Monolithic design and fabrication of a 2-DOF bio-inspired leg transmission. In Biomimetic and Biohybrid Systems - Third International Conference, Living Machines 2014, Proceedings (pp. 1-10). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8608 LNAI). Springer Verlag. https://doi.org/10.1007/978-3-319-09435-9_1