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- Creators: Engineering Programs
- Creators: Farber-Schaefer, Blaine
- Member of: Theses and Dissertations
Description
The field of soft robotics is a very quickly growing field that has yet to be fully explored or implemented in all of the possible applications. Soft robotics shows the greatest degree of possibility for mimicking biological systems effectively and accurately. This study seeks to set the groundwork for the development of a biomimetic nautilus using soft robotic methods. The study shows background research and discusses the methods used to develop a nautilus themed sub aquatic robot that uses a double bladder system and a pump to generate thrust for movement. The study shows how the unit would be fabricated and constructed. The study also explores why the second stage of the design failed and how it could potentially be fixed in future iterations.
ContributorsCarlson, Caleb Elijah (Author) / Polygerinos, Panagiotis (Thesis director) / Parsey, John (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2017-05
Description
Three dimensional printing is a growing field and an excellent medium for rapid prototyping. Its expansion has accelerated over recent years due to the increased affordability of the technology. It is now at the point where the startup cost to get into the field is down to the hobbyist price point. This means that there is an extremely high demand for affordable printing media. Current media such as ABS and PLA is extremely easy to form, but expensive and petroleum intensive to create. A recycling system that could work with a large variety of waste products could change the way that the maker community recycles. This Honors Thesis, or "Creative Project" will be centered on the product launch of small business 3DCycler. Although this launch will require pulling information and skills from various branches of both Business and Science, the scope of this project will be limited to specifically the market entrance of our small business/ product. Within this blanket goal, the project aims to define our target market/ its niche(s), develop proper IP/ lockout strategies, define future manufacturing strategies, and to fully define our beta product. The research was empirical in nature. Through data gathering techniques (e.g., consultations, interviews, survey), exploration was performed. Through these techniques the company 3DCycler took several calculated pivots in order to prepare the company for a strategic product launch and eventual acquisition.
ContributorsFarber-Schaefer, Blaine (Author) / Cho, Steve (Thesis director) / Goodman, Tom (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2016-12
Description
For the basis of this project, a particular interest is taken in soft robotic arms for the assistance of daily living tasks. A detailed overview and function of the soft robotic modules comprised within the soft robotic arm will be the main focus. In this thesis, design and fabrication methods of fabric reinforced textile actuators (FRTAs) have their design expanded. Original design changes to the actuators that improve their performance are detailed in this report. This report also includes an explanation of how the FRTA’s are made, explaining step by step how to make each sub-assembly and explain its function. Comparisons between the presented module and the function of the soft poly limb from previous works are also expanded. Various forms of testing, such as force testing, range of motion testing, and stiffness testing are conducted on the soft robotic module to provide insights into its performance and characteristics. Lastly, present plans for various forms of future work and integration of the soft robotic module into a full soft robotic arm assembly are discussed.
ContributorsSeidel, Sam (Author) / Zhang, Wenlong (Thesis director) / Sugar, Thomas (Committee member) / Engineering Programs (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05
Description
For my thesis I worked in ASU’s Bio-Inspired Mechatronics lab on a project lead by PhD student Pham H. Nguyen (Berm) to develop an assistive soft robotic supernumerary limb. I contributed to the design and evaluation of two prototypes: the silicon based Soft Poly Limb (SPL) and one bladder-based fabric arm, the fabric Soft Poly Limb (fSPL). For both arms I was responsible for the design of 3D printed components (molds, end caps, etc.) as well as the evaluation of the completed prototypes by comparing the actual performance of the arms to the finite element predictions. I contributed to the writing of two published papers describing the design and evaluation of the two arms. After the completion of the fSPL I attempted to create a quasi-static model of the actuators driving the fSPL.
ContributorsSparks, Curtis Mitchell (Author) / Sugar, Thomas (Thesis director) / Zhang, Wenlong (Committee member) / Engineering Programs (Contributor, Contributor) / Barrett, The Honors College (Contributor)
Created2019-05