Investigations on Bending Characteristics of Soft Mesh Structure using Shape Memory Alloy Spring Towards Bio-Inspired Robotic Applications

Muralidharan, M.; Brolin, A.; Mithun, R; Patil, Rohit; Palani, I. A.

doi:10.1007/s40997-020-00363-8

Cited by 7 publications

(4 citation statements)

References 27 publications

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“…The moderated analysis of the model uses numerical techniques and mathematical formulations [25], which significantly differ from the analysis of the deformation behavior of the two springs. The stainless-steel spring exhibits normal deformation behavior [26] while the SMA spring exhibits normal deformation and superelastic shear behaviors [27]. The characteristic behaviors of SMA materials are independent of one another [28].…”

Section: Finite Element Formulationmentioning

confidence: 99%

A Novel Active Cooling System for Internal Combustion Engine Using Shape Memory Alloy Based Thermostat

Turabimana

Sohn

Choi

2023

Sensors

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Pollutants in exhaust gases and the high fuel consumption of internal combustion engines remain key issues in the automotive industry despite the emergence of electric vehicles. Engine overheating is a major cause of these problems. Traditionally, engine overheating was solved using electric pumps and cooling fans with electrically operated thermostats. This method can be applied using active cooling systems that are currently available on the market. However, the performance of this method is undermined by its delayed response time to activate the main valve of the thermostat and the dependence of the coolant flow direction control on the engine. This study proposes a novel active engine cooling system incorporating a shape memory alloy-based thermostat. After discussing the operating principles, the governing equations of motion were formulated and analyzed using COMSOL Multiphysics and MATLAB. The results show that the proposed method improved the response time required to change the coolant flow direction and led to a coolant temperature difference of 4.90 °C at 90 °C cooling conditions. This result indicates that the proposed system can be applied to existing internal combustion engines to enhance their performance in terms of reduced pollution and fuel consumption.

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Section: Finite Element Formulationmentioning

confidence: 99%

A Novel Active Cooling System for Internal Combustion Engine Using Shape Memory Alloy Based Thermostat

Turabimana

Sohn

Choi

2023

Sensors

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“…The following reference figure (14) shows the simulation of SMA bimorph and similar data can be obtained for SMA embedded wire. [6][7] [9]. Investigation on actuation characteristics of SMA bimorph towards flappers for aerial robots can be found in [4] and its design and development in [8].…”

Section: Sma Spring Bimorph Simulationmentioning

confidence: 99%

Robotics, Automation and Non-Destructive Evaluation

2022

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This paper deals with the category of exploratory robotic systems, which is a necessity as the thirst for extraterrestrial survival becomes imminent. Therefore, a robotic system has been proposed along with its conceptual design and motion analysis for its working on the Martian surface. The robotic system consists of two major modules: a robotic sphere and a soft aerial robot (bio-inspired). The robotic sphere will perform the land-based exploration while the aerial robot will navigate through the Martian atmosphere. The soft aerial robot will be encapsulated inside the robotic sphere so that it can be protected from unexpected disastrous events like sand storms which are prone to occur. The system as a whole utilizes rigid components as well as soft actuators. The traversing of a robotic sphere is based on the principle of a shift in the Center Of Mass (COM), while the bio-inspired flapping in the aerial robot is achieved by using Shape Memory Alloy (SMA) springs. Motion analysis has been carried out for both the modules and results are presented. Motion captures at various instances and derived parametric plots are discussed. A result for SMA spring simulation is also included. The specific materials of the components has not been included and can be considered for future studies. The papers opens up a huge domain for soft robotic systems to be used for exploratory purposes. This paper consists of original piece of work, presenting a major piece in writing for the first time.

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“…Zhou et al [ 13 ] designed a millimeter-scale ground crawling robot driven by a novel prismatic mechanism capable of operating in a wide range of actuation frequencies, achieving a maximum ground crawling velocity of ~24 body-length(BL)/s. Muralidharan et al [ 14 ] developed a biomimetic soft worm robot driven by SMA which utilized the bending behavior of the robot to achieve steering in peristaltic and two-anchor locomotion. Duduta et al [ 15 ] proposed a soft robot driven by DEA and explored a range of actuation modes combined with a novel actuator design to enable multi-modal locomotion, including crawling, hopping, jumping, and rolling.…”

Section: Introductionmentioning

confidence: 99%

A Dielectric Elastomer Actuator-Driven Vibro-Impact Crawling Robot

Yan

Cai

et al. 2022

Micromachines

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Over the last decade, many bio-inspired crawling robots have been proposed by adopting the principle of two-anchor crawling or anisotropic friction-based vibrational crawling. However, these robots are complicated in structure and vulnerable to contamination, which seriously limits their practical application. Therefore, a novel vibro-impact crawling robot driven by a dielectric elastomer actuator (DEA) is proposed in this paper, which attempts to address the limitations of the existing crawling robots. The novelty of the proposed vibro-impact robot lies in the elimination of anchoring mechanisms or tilted bristles in conventional crawling robots, hence reducing the complexity of manufacturing and improving adaptability. A comprehensive experimental approach was adopted to characterize the performance of the robot. First, the dynamic response of the DEA-impact constraint system was characterized in experiments. Second, the performance of the robot was extensively studied and the fundamental mechanisms of the vibro-impact crawling locomotion were analyzed. In addition, effects of several key parameters on the robot's velocity were investigated. It is demonstrated that our robot can realize bidirectional motion (both forward and backward) by simple tuning of the key control parameters. The robot demonstrates a maximum forward velocity of 21.4 mm/s (equivalent to 0.71 body-length/s), a backward velocity of 16.9 mm/s, and a load carrying capacity of 9.5 g (equivalent to its own weight). The outcomes of this paper can offer guidelines for high-performance crawling robot designs, and have potential applications in industrial pipeline inspections, capsule endoscopes, and disaster rescues.

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Investigations on Bending Characteristics of Soft Mesh Structure using Shape Memory Alloy Spring Towards Bio-Inspired Robotic Applications

Cited by 7 publications

References 27 publications

A Novel Active Cooling System for Internal Combustion Engine Using Shape Memory Alloy Based Thermostat

A Novel Active Cooling System for Internal Combustion Engine Using Shape Memory Alloy Based Thermostat

Robotics, Automation and Non-Destructive Evaluation

A Dielectric Elastomer Actuator-Driven Vibro-Impact Crawling Robot

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