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W.A.N.T: Weightlifting Ant
KTH, School of Industrial Engineering and Management (ITM).
KTH, School of Industrial Engineering and Management (ITM).
2019 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
W.A.N.T : Tyngdbärande myra (Swedish)
Abstract [en]

The purpose of this project is to create a light weight robotic version of an ant that can withstand great forces, trying to come close to the ant’s lifting technique as much as possible. This idea was chosen with inspiration from nature, especially from the obscure forces of an ant. These insects are proven to be able to lift and carry heavy loads, up to a thousand times their body weight. Various lifting technologies are used by several facilities today and therefore there is a need for improvements in this field.

By trying to come close to an ant’s appearance and mimic certain ant movements, a hexapod was designed over a period of four months. The tests made in this project were divided into three categories; stability, lifting and gripping ability. The best balance was achieved by placing the legs’ contact points on the ground as far away from each other as possible. In total the robot ant could lift about 1.02 times its own weight and bear 3.01 times its own weight on the thorax.

Abstract [sv]

Målet med projektet är att konstruera en lågvikts robotmyra som kan uthärda stora krafter och härma myrors rörelse vid lyft så mycket som möjligt. Projektidén valdes med inspiration från naturen, speciellt från de otroliga krafter hos en myra. Myror har bevisats kunna lyfta och bära tunga laster eller mer exakt tusen gånger sin egen vikt. Olika lyfttekniker används av flera faciliteter idag och därmed finns det behov av förbättringar i detta område.

Genom att efterlikna en myras utseende och härma dess rörelser designades en sexfoting under en period på fyra månader. Testerna delades in i tre olika kategorier; stabilitet, lyft- och greppförmåga. Den bästa balansen uppnåddes då benens kontaktpunkter med marken placerades så långt ifrån varandra som möjligt. Totalt klarade robotmyran att lyfta 1.02 gånger sin egen vikt och bära 3.01 gånger egna vikten på ryggen.

Place, publisher, year, edition, pages
2019. , p. 46
Series
TRITA-ITM-EX ; 2019:29
Keywords [en]
mechatronics, hexapod, lifting, weight, stability, ant, gripping
Keywords [sv]
mekatronik, sexfoting, lyfta, vikt, stabilitet, myra, greppa
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-264500OAI: oai:DiVA.org:kth-264500DiVA, id: diva2:1373817
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Available from: 2019-11-28 Created: 2019-11-28 Last updated: 2019-11-28Bibliographically approved

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