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Nodalization of Honeycomb Metamaterial for Developing Untethered Soft-Bodied Robots

Dikici, Yusuf
http://orcid.org/0000-0002-7061-2550
http://rave.ohiolink.edu/etdc/view?acc_num=case1712064470167052

Abstract Details

, Doctor of Philosophy, Case Western Reserve University, EMC - Mechanical Engineering.
This dissertation introduces the nodal honeycomb lattice structure, inspired by conventional honeycomb and chiral structures, and designed for assembly compatibility, serving as a foundation for integrating additional system components. This structure facilitated the development of soft robots with shape-morphing skins and an untethered, soft-bodied robot. It addresses the gap in research on the practical applications of shape morphing in robotics by proposing a novel design approach that enhances the mobility and efficiency of soft robots through dynamic shape-changing capabilities. This allows robots to navigate through confined spaces more effectively than traditional designs. The work also details a metamaterial-based approach for developing an untethered, soft-bodied robot that overcomes the challenges of traditional fabrication methods through a semi-automated process involving 3D printing and discrete assembly. This process results in a customizable and scalable robot with multimodal and omnidirectional locomotion, addressing the need for fully integrated on-board systems for applications in diverse and unstructured environments. This dissertation demonstrates that the nodal honeycomb structure has the potential to serve as a foundational concept for application in various soft robotic designs.
Ozan Akkus (Committee Chair)
Kathryn Daltorio (Committee Member)
Umut Gurkan (Committee Member)
Xiong Yu (Committee Member)
140 p.
Design; Engineering; Mechanical Engineering; Mechanics; Robotics
Mechanical metamaterial Soft-bodied robot Limbless locomotion Multimodal locomotion

Recommended Citations

Citations

  • Dikici, Y. (2024). Nodalization of Honeycomb Metamaterial for Developing Untethered Soft-Bodied Robots [Doctoral dissertation, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1712064470167052

    APA Style (7th edition)

  • Dikici, Yusuf. Nodalization of Honeycomb Metamaterial for Developing Untethered Soft-Bodied Robots. 2024. Case Western Reserve University, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1712064470167052.

    MLA Style (8th edition)

  • Dikici, Yusuf. "Nodalization of Honeycomb Metamaterial for Developing Untethered Soft-Bodied Robots." Doctoral dissertation, Case Western Reserve University, 2024. http://rave.ohiolink.edu/etdc/view?acc_num=case1712064470167052

    Chicago Manual of Style (17th edition)

case1712064470167052
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© 2024, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.