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http://dx.doi.org/10.3795/KSME-A.2010.34.12.1893

Locomotion Characteristics of a Foxtail and a Foxtail-like Robot  

Lee, Min-Su (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
Kim, Yeong-Hyeok (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
Leem, Sang-Huyck (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
Kim, Byung-Kyu (School of Aerospace and Mechanical Engineering, Korea Aerospace Univ.)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.34, no.12, 2010 , pp. 1893-1899 More about this Journal
Abstract
A foxtail moves forward on a flat surface when pushed by a vertical force. The distance moved by the foxtail depends on the degree of deformation. We experimentally investigated the main parameters that influence the distance moved while varying the pushing force, area, and velocity. We then fabricated a nylon barb that mimics the foxtail barb and performed theoretical and experimental analyses of the displacement according to the acting force and the deflection. In addition, we investigated the relation between the displacement and the angle of a foxtail-like robot's leg by varying the clearance between the robot body and the inner surface of the pipe. To find the design parameters of the barb of the robot for tubular-type digestive organs and blood vessels, we studied the relation between the acting force and the elastic modulus while varying the leg diameter.
Keywords
Foxtail; Barb; Microplate;
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