Ciencias Exactas y Ciencias de la Salud

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Pertenecen a esta colección Tesis y Trabajos de grado de las Maestrías correspondientes a las Escuelas de Ingeniería y Ciencias así como a Medicina y Ciencias de la Salud.

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Advisor: search.filters.advisor.González de Alba, AlejandroSubject: search.filters.subject.Robotics

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    Tesis de maestría
    Metamaterial-enhanced soft pneumatic actuators: tailoring stiffness and deformation modes
    (Instituto Tecnológico y de Estudios Superiores de Monterrey, 2025-06-09) Ochoa Sánchez, Oscar; González de Alba, Alejandro; emipsanchez; Cuan Urquizo, Enrique; Pérez Santiago, Rogelio; School of Engineering and Sciences; Campus Monterrey; Sandoval Castro, Xochitl Yamile
    Soft robotics is redefining robotic systems by leveraging compliant materials, with soft actuators serving as key enablers of motion and functionality. Despite current strategies for designing soft pneumatic actuators, challenges remain in achieving tunable stiffness and deformation, limiting their versatility and reusability. This thesis explores a novel approach: integrating metamaterials as structural reinforcements to enable programmable deformation modes and localized stiffness control. To achieve this, functionally graded metamaterial beams are designed through a novel inverse method and incorporated into bending actuators. The study systematically evaluates the fabrication of reconfigurable actuators, the impact of varied reinforcements on stiffness and deformation, a constant curvature-based forward kinematic model, and an application case of a gripper capable of handling objects of different sizes and shapes. Additionally, metamaterial reinforcements are applied to origami-inspired contraction actuators, facilitating programmable motion for applications such as parallel platforms and robotic arms. By combining experimental, computational, and analytical methods, this research validates a novel strategy for the development of tunable soft actuators. The results demonstrate the ability to alter conventional deformation patterns, enabling unexpected capabilities such as inducing torsion in bending actuators and bending in contraction actuators. This work underscores the transformative potential of metamaterials in advancing reconfigurable and programmable soft actuators with tailored mechanical properties, paving the way for complex, real-world applications.
En caso de no especificar algo distinto, estos materiales son compartidos bajo los siguientes términos: Atribución-No comercial-No derivadas CC BY-NC-ND http://www.creativecommons.mx/#licencias
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