6-DOF robotic device for fluid mechanics experiments : zero force control with a swimming eel-like robot

Thiebaut, Eric
(2023)

Files

Thiebaut_89671900_2023.pdf
  • Closed access
  • Adobe PDF
  • 27.66 MB

Details

Supervisors
Ronsse, Renaud ; Chatelain, Philippe
Faculty
Ecole polytechnique de Louvain
Degree label
Master [120] : ingénieur civil biomédical, à finalité spécialisée
Abstract
This thesis addresses the development of a 6-DOF robotic device with force control for fluid mechanics experiments. It discusses the need for validation in computer simulations for complex engineering applications and highlights challenges in multi-dimensional systems. The project’s ultimate goals include conducting experiments in front of a wind turbine and within a testing pool. The document reviews current technology, outlines hardware and software specifications of the actual device, details practical decisions leading to the device commissioning, emphasizes safety measures, and concludes with an experiment showcasing the system’s first capabilities.