Design and Development of wall climbing Hexapod Robot with SMA actuated suction gripper

Sinkar, A.D.; Pandey, Aditya; Mehta, C. H.; Karthick, S.; Jayachandran, S. Arul; Katoch, Akash; Palani, I. A.

doi:10.1016/j.procs.2018.07.027

Cited by 12 publications

(6 citation statements)

References 7 publications

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“…We established two distinct cases as shown in Table 2 to optimize the cantilever beam made of SMA under diverse thermal-mechanical loads and displacement constraints. In the first case, the temperature is set at T ≤ A s , focusing primarily on exploiting the shape memory effect of SMA, commonly employed as an actuator (Arias Guadalupe et al, 2023; Niu et al, 2022; Sinkar et al, 2018). In the second case, the temperature is set at T > A f , with the primary emphasis placed on harnessing the superelasticity of SMA to enhance the structure’s seismic performance (Abraik and Asif, 2023; Navarro-Gómez and Bonet, 2019; Xue et al, 2020).…”

Section: Numerical Examplesmentioning

confidence: 99%

Topology optimization structure design of shape memory alloy with multiple constraints

Dong,

Jiang,

et al. 2024

Journal of Intelligent Material Systems and Structures

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As an emerging functional material, shape memory alloy (SMA) exhibits remarkable mechanical properties and finds diverse applications across industries. This paper presents a topology optimization framework based on the bi-directional evolutionary structural optimization (BESO) method for designing SMA structures, which maximizes structural stiffness under multiple constraints of specified volume fraction, displacement, and fundamental frequency. A phenomenological constitutive model is utilized to simulate the mechanical behavior of SMA accurately. The unit virtual load method is employed to determine sensitivities. Several optimized SMA beam structures and simply-supported cube structures are designed under different thermal-mechanical loads, and their displacement, mean compliance, and fundamental frequency are evaluated throughout the optimization process. The results demonstrate that the proposed framework successfully customizes the SMA topology structure with adjustable displacement and fundamental frequency, and the optimized schemes exhibit more considerable deformation and more uniform mechanical properties than their initial counterparts. The proposed framework has higher computational efficiency than the traditional SIMP-based SMA topology optimization design method.

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Section: Numerical Examplesmentioning

confidence: 99%

Topology optimization structure design of shape memory alloy with multiple constraints

Dong,

Jiang,

et al. 2024

Journal of Intelligent Material Systems and Structures

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“…A flexible parallel robotic module was actuated by three SMA springs in between a triangular top and base plate connected by a universal joint at its centroid [37]. Shape Memory Alloy actuated controllable suction grippers were proposed and experimented with for a wall climbing hexapod [38]. Soft actuators used to perform actions such as bending, twisting and extending using SMA wires were embedded into actuators to power them [39].…”

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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“…Japan's Tokyo Institute of Technology developed KUMO-I -the first quadruped in 1976, in the subsequent years the same institute also produced TITAN series quadruped robots based on this study considered in an environment of flat surface, the robot walks steadily and hence mechanical translational system can be used to replace the servo motors at the leg joints [2,3,4,9]. Due to this alteration, the difficulties in control, high cost and heaviness of the system are overcome and make it most suitable for commonplace applications [7,8].To pursue this goal, the earlier research outcomes and theories are utilised to improve the system design and a modified quadruped robot mechanism which can be used for steady walking on a levelled surface is developed with a cam drive [5,6]…”

Section: Introductionmentioning

confidence: 99%

Tetrapod Automaton in the Shamble’s Management with the Fish Eye Lens Pi Cam

Meenakshi*,

Sivaprasad,

Sowndarya

et al. 2020

IJRTE

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Automation Is The Future Technology, Without This Most Of The Technologies Are Implausible. This Paper Is All About The Tetrapod Robot Which Is The Four Legged Robot That Could Be Used In The Shamble’s Management Application. This Robot Has Four Legs For Kinesis. The Motion Of The Legs Is Achieved By The Concept Of Inverse Kinematics. The Servo Motors Are Making The Bot To Drive. The Arduino UNO Is Used To Send Signals. It Has I 2C (Inter Integrated Circuits) Interface. It Has Two Signals. They Are Serial Clock Line Signal And Serial Data Line For Master Slave Communication. The Main Motive Of This Bot Is To Make It Walk Under The Disaster Areas Where Human Intervention Is Challenging. It Takes Live Images And Streams Video In The Disaster Areas. The Image Capturing And Video Streaming Is Achieved Using Raspberry Pi Fisheye Lens Camera Module. It Provides A Slight Image Difference In The Field Of View Compared To The Usage Of Normal Lens. The Resolution Of This Camera Is 5megapixels.The Advantage Of Using This Bot Is For Implementing It Under Impossible Human Intervention. It Moves In Any Bleak Surfaces Which The Maneuvered Robot Cannot Get The Stability. The Legged Robot Gets Its Stability Due To The Arrangement Of Legs With The Chassis Taking The Center Of Gravity Into Consideration.

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Design and Development of wall climbing Hexapod Robot with SMA actuated suction gripper

Cited by 12 publications

References 7 publications

Topology optimization structure design of shape memory alloy with multiple constraints

Topology optimization structure design of shape memory alloy with multiple constraints

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

Tetrapod Automaton in the Shamble’s Management with the Fish Eye Lens Pi Cam

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