Abstract
Abstract : Lyriforms are structures unique to arachnids that aid in proprioceptive and kinesthetic processes (the determination of limb position and motion). Despite several detailed investigations, these organs have not been widely studied, and the mechanics of their functioning are still largely unknown. The development of artificial versions of these structures would provide a mechanism of actuator-independent kinesthesia in robotic applications, which may contribute towards improving the intelligence of artificial agents This work systematically explores the influence of selected geometric parameters on the response of lyriforms organs to loading in an idealised environment. Several models of organs were simulated using finite element methods, which enabled the effects of geometric parameter variation to be investigated in isolation. It was determined that these organs respond non-linearly to certain loads, which prevents their behaviour from being effectively modelled. However, it was also found that certain generalisations from the idealised environment translate to a quasi-realistic setting. Future work should focus on the refinement of the process used here, or on exploring behaviour in a realistic model.
M.Ing. (Engineering Management)