Bio Inspired Design - Lecture6. Biomotion biopropulsion_macroscale_part2
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Bio Inspired Design - Lecture6. Biomotion biopropulsion_macroscale_part2

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    Bio Inspired Design - Lecture6. Biomotion biopropulsion_macroscale_part2 Bio Inspired Design - Lecture6. Biomotion biopropulsion_macroscale_part2 Presentation Transcript

    • Jezus Lizard Bio-Inspired Design Wb2436-05 Lecture 6 Biomotion – Biopropulsion (Macroscale) Paul BreedveldWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • OverviewEnvironment Locomotion Resulting Method Technology Air Flying Floating Submarines Water Swimming Walking & Jumping Land Climbing & Swinging Shape Memory Crawling DevicesWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Few rolling creatures exist... (Wilders, 2008) Rolling? (“Wentelteefje”, M. C. Esher)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Tumbleweed Passive rolling (wind)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling WebToed Salamander Namib Wheeling Spider (Golden Wheel Spider) Partially active rolling (take off, hill)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Mother-Of-Pearl Moth Active rolling (take off, horizontal)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling • No backlash • No friction • No lubrication Rolling anatomic elements (partial rotation)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Bacterial Motor (full rotation) Rolling anatomic elements (full rotation)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Jellyfish (kwal) Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Jelly (gelei), slightly lighter than water (total Jellyfish slightly heavier than water) Jellyfish (kwal) Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Shark Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Dogfish (hondshaai): avoid swimming by living on bottom sea Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling “Parachute” slows down sinking speed “Roeipootkreeftje” Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Cornelis Drebbel, 1620: first submarine Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Swimming or sinkingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Gas Chamber Jet Propulsion “Staatkwal” Using gas chambers to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Gas chambers, slight vacuum Nautilus Using gas chambers to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Using gas chambers to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Foam: large amount of very small air chambers Disadvantage of gas chambers: collapse at very high pressures Sepia (zeekat) Using gas chambers to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Using gas chambers to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating CrawlingUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Swimming bladder is compressible: Pre: No collapse at very high pressures Con: Amount of gas needs to be controlledNo gas control gives unstable system:> water pressure bladder smaller fish sinks more< water pressure bladder larger fish rises moreUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Removal of gas Creation of gasUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Removal of gas: • Sphincter muscle (kringspier) opens, • Gas diffuses into bloodUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Creation of gas: • Gas gland (gasklier) creates gas in blood • Gas accumulates via diffusion in Rete Mirabile • (wondernet) till pressure > water pressure Rete Mirabile (wondernet): parallel arterial & venal hair vessels for maximum diffusionUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating CrawlingUsing swimming bladder to compensate weightWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling SubmarineWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling SubmarineWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Longitudinal Wave (Earthworm, body)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Longitudinal Wave (Snail, body)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Longitudinal Wave (Milipede, legs)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Milipede DeviceWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Theo Jansen - www.strandbeest.comWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling A snake has 3 methods of locomotion.. Transversal Wave (Snake, body)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling 1. Gripping & pullingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling 2. Memorizing & shifting shape backwardWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling 3. Idem + lifting parts of bodyWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Snake bottom: direction-dependent friction overlapping, swiveling plates low friction high friction sharp borderlineWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Locomotion method 2 (in 2D) applied in snake robot (Hirose, Japan)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Wheels are passive, angles between segmentsare actuated and fed back to previous segmentsWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Locomotion method 2 (in 3D) applied in swimming snake robot (Hirose, Japan)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Locomotion method 3 applied in snake robot (Hirose, Japan)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Locomotion method 3 applied in snake robot (Hirose, Japan) Passive wheels Actuated anglesWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Locomotion (like snake in desert)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Strong reduction of forces on intestinal wall when pushing colonoscope forward Too Complex!Locomotion method 2(in 3D) applied in Shape Memory ColonoscopeWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Twin-Spine Shape Memory SystemWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling Two spines that can be made rigid or flexible Rigid spine is shape memory for flexible spine How to make a flexible/rigid spine?Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling 1. Inflatable cable-ring (Arjo Loeve)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling compliant 750 x 5.5mm shaftWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling rigidifiedWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling2. Deflatable particle tube (Arjo Loeve)Wb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating CrawlingWb2436-05, Paul Breedveld, Biopropulsion Marcoscale
    • Floating Crawling By swiming Longitudinal wave By using gas chambers Transversal waveBy using a swimming bladder Snake motion: 1. Gripping & Pulling 2. Memorizing & shifting shape backward (Twin Spine System) 3. Idem + lifting parts of body Direction dependent friction