Ein Beitrag zur Anwendung der Theorie undulatorischer Lokomotion auf mobile Roboter: Evaluierung theoretischer Ergebnisse an Prototypen

摘要

Abstract of the thesis
\n
\nUndulatory locomotion systems are located in the centre of this thesis. That is why it was 
\nimportant to define the terms undulation and locomotion. Locomotion is generally defined 
\nas the directed change of location of natural or technical systems. But it turns to be difficult to 
\ngive a comprehensive definition of the term locomotion from the viewpoint of mechanics. It 
\nwas mathematically described in this thesis as follows:
\nLocomotion systems are technical systems, which are able to move all their points in a 
\nselected characteristic time interval with same or different amount and direction.
\n
\nMechanics understand undulation as an excitation of the actuators, which comes from the 
\noutside or the inside of the system. Then the actuators produce (usually) a periodic change of 
\nshape, which causes a global change of location of the system through interaction with the 
\nenvironment.
\n
\nIn this thesis, undulatory locomotion systems are developed by means of two prototypes.
\n
\nThe prototype (TM-ROBOT) was developed according to the undulatory (peristaltic) 
\nmovement principle of the earthworm (length variation of segments). A system, which uses 
\nthe peristaltic motion principle for the movement, means that this system moves itself through 
\nperiodic deformations of its body, non-symmetric friction forces and interaction with the 
\nenvironment.
\n
\nThe prototype (MINCH-ROBOT) is a micro robot, which does not convert a classical 
\nundulatory locomotion. It consists of a piezo actuator and is equipped with two passive legs 
\nand a tail. His undulation is produced through transmission of the high frequency vibrations 
\nof its body (piezo actuator) on the legs. Thus complex spatial trajectories of the leg endpoint 
\ncan be produced. The unsymmetry of the two legs plays a substantial role to control this 
\nprototype. This (on purpose realized) unsymmetry between right and left leg is the cause for a 
\nshift of the resonance ranges of the legs. Thus the robot becomes controllable in its direction.
\n
\nNumeric Simulations of the two prototypes and measurements of the material object support 
\nthe theory of this work, which is thus integrated with the broad field of the locomotion 
\nsystems.