Observing and modelling the legless jumping mechanism of click beetles for bio-inspired robotic design

Bolmin, Ophelia

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https://hdl.handle.net/2142/99439 Copy

Description

Title

Observing and modelling the legless jumping mechanism of click beetles for bio-inspired robotic design

Author(s)

Bolmin, Ophelia

Issue Date

2017-12-15

Director of Research (if dissertation) or Advisor (if thesis)

Wissa, Aimy A

Department of Study

Aerospace Engineering

Discipline

Aerospace Engineering

Degree Granting Institution

University of Illinois at Urbana-Champaign

Degree Name

M.S.

Degree Level

Thesis

Keyword(s)

• Legless jumping
• Click beetle inspired robot

Abstract

Click beetles (Coleoptera: Elateridae) have evolved a unique jumping mechanism to right themselves when on their dorsal side without using their legs or any other appendages. This work describes and analyzes the stages of the click beetle jump using high-speed video recordings and scanning electron micrographs of six beetle species, namely Alaus oculatus, Ampedus linteus, Hemicrepidius sp., Melanactes sp., Melanotus spp. and Parallelosthetus attenuatus. The jump of the click beetle is divided into three consecutive stages: the pre-jump stage (energy storage), and the take-off and airborne stages (energy release). Morphological measurements of the previously mentioned species as well as three additional species, namely Agriotes sp., Athous sp. and Lacon discoideus are taken, and isometric scaling across the species is observed. The body of the click beetle is considered as two masses linked by a hinge. Dynamic and kinematic models of the jump stages are developed. Non-dimensional analysis of the airborne stage is used to analyze the jump and identify the contribution of kinematic and morphological governing parameters. An energetics model is developed to describe the energy exchanges between the three stages of the jump. Kinematic and dynamic models are used to calculate the hinge stiffness and the elastic energy stored in the body during the jump. The derived models provide a framework that will be used for the design of a click beetle inspired self-righting robot.

Graduation Semester

2017-12

Type of Resource

text

Permalink

http://hdl.handle.net/2142/99439

Copyright and License Information

Copyright 2017 Ophelia Bolmin

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