Compliant closed-chain rolling robot using modular unidirectional SMA actuators

Mansour, Nader A.; Jang, Taesoo; Baek, Hangyeol; Shin, Buhyun; Ryu, Bong-Jo; Kim, Youngshik

doi:10.1016/j.sna.2020.112024

Cited by 21 publications

(8 citation statements)

References 14 publications

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“…SMA-based Roll robot actuators [42] can mimic the behavior of rolling animals as designed in Figure 1e. This is a modular closed-chain rolling robot with compliant SMA wires which has the perfect terrain adaptability and maneuverability.…”

Section: Flexible and Soft Robotsmentioning

confidence: 99%

Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade

Ruth

Sohn

Kaliaperumal

et al. 2022

Sensors

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This paper mainly focuses on various types of robots driven or actuated by shape memory alloy (SMA) element in the last decade which has created the potential functionality of SMA in robotics technology, that is classified and discussed. The wide spectrum of increasing use of SMA in the development of robotic systems is due to the increase in the knowledge of handling its functional characteristics such as large actuating force, shape memory effect, and super-elasticity features. These inherent characteristics of SMA can make robotic systems small, flexible, and soft with multi-functions to exhibit different types of moving mechanisms. This article comprehensively investigates three subsections on soft and flexible robots, driving or activating mechanisms, and artificial muscles. Each section provides an insight into literature arranged in chronological order and each piece of literature will be presented with details on its configuration, control, and application.

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Section: Flexible and Soft Robotsmentioning

confidence: 99%

Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade

Ruth

Sohn

Kaliaperumal

et al. 2022

Sensors

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“…The structure of the steering module is shown in Figure 4, we used the steering motor (1), steering sheet metal 1 (2), steering sheet metal 2 (3), and the battery pack (8) as counterweights to reduce structural redundancy. The counterweight was connected to the major shaft through slide guide rails (6), slider (7), and gear-rack drive (4), shown in Figure 4.…”

Section: Steering Modulementioning

confidence: 99%

“…In the field of rolling robots, Ranjan M proposes a mass driven robot "sprerobot", which can realize rolling forward by changing the mass distribution [6,7]. Nader A. Mansour proposed a modular closed-chain rolling robot with flexible shape memory alloy actuators, which can simulate the behavior of rolling animals [8]. For a jumping motion, NASA designed a jumping robot to meet the requirements of interstellar exploration across rugged terrain.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of the Rolling and Jumping Compound Motion Robot

Wang

et al. 2021

Applied Sciences

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Complex and unknown areas in deep space exploration present major challenges to the motion ability of current space robots. Different from the traditional single-mode motion space robot, a compound motion robot with flexible movement and strong obstacle surmounting ability is proposed. Through the highly integrated structure design, the lightweight robot has the ability of rolling and jumping, and the kinematic characteristics of the robot under two motion modes are analyzed. This work provides a reference for the design of deep space exploration equipment with high motion capability in the future.

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“…A variety of soft actuators available in different materials and functions have been designed to imitate bionic motions. These soft actuators include ionic polymer-metal composite (IPMC) [3][4][5][6], shape memory alloy (SMA) [7][8][9][10], dielectric elastomer actuator (DEA) [11][12][13][14], and twisted and coiled polymer (TCP) [15][16][17]. The IPMC is a popular choice for its low actuation voltage (<5 V) and high flexibility [18].…”

Section: Introductionmentioning

confidence: 99%

Design and Application of a Twisted and Coiled Polymer Driven Artificial Musculoskeletal Actuation Module

Zheng

Wang

et al. 2022

Materials

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Twisted and coiled polymer (TCP) artificial muscles can exhibit unidirectional actuation similar to skeletal muscles. This paper presents a TCP driven artificial musculoskeletal actuation module that can be used in soft robots. This module can contract in the axis direction, and the contraction displacement and force can be controlled easily. The main body of the actuation module consists of TCP muscles and leaf springs, and the deformation of the module is actuated by the TCP muscles. A prototype was made to test the performance of the module. The design and experimental results of the module are presented. The module can provide contraction motion. Results show that the module can provide a contraction force of 0.7 N with displacement of approximately 6.8 mm at 120 ∘C when exposed to electrical power of 24 V. The proposed artificial musculoskeletal actuation module can potentially be applied in biomimetic robots and the aerospace field.

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Compliant closed-chain rolling robot using modular unidirectional SMA actuators

Cited by 21 publications

References 14 publications

Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade

Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade

Design and Analysis of the Rolling and Jumping Compound Motion Robot

Design and Application of a Twisted and Coiled Polymer Driven Artificial Musculoskeletal Actuation Module

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