Jumping Tensegrity Robot Based on Torsionally Prestrained SMA Springs

Chung, Yoon Seop; Lee, Jihyeong; Jang, Jae Hyuck; Choi, Hyouk Ryeol; Rodrigue, Hugo

doi:10.1021/acsami.9b13062

Cited by 38 publications

(19 citation statements)

References 37 publications

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“…There is a three-dimensional and phenomenological model for the constitutive SMA model [ 36 , 37 , 38 , 39 , 40 ]. The shape memory effect of the SMA, which occurs under temperature change between the martensite and austenite phase, exhibits a large residual strain.…”

Section: Methodsmentioning

confidence: 99%

Shape Memory Alloys in Textile Platform: Smart Textile-Composite Actuator and Its Application to Soft Grippers

Shin

Han

2023

Sensors

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In recent years, many researchers have aimed to construct robotic soft grippers that can handle fragile or unusually shaped objects without causing damage. This study proposes a smart textile-composite actuator and its application to a soft robotic gripper. An active fiber and an inactive fiber are combined together using knitting techniques to manufacture a textile actuator. The active fiber is a shape memory alloy (SMA) that is wire-wrapped with conventional fibers, and the inactive fiber is a knitting yarn. A knitted textile structure is flexible, with an excellent structure retention ability and high compliance, which is suitable for developing soft grippers. A driving source of the actuator is the SMA wire, which deforms under heating due to the shape memory effect. Through experiments, the course-to-wale ratio, the number of bundling SMA wires, and the driving current value needed to achieve the maximum deformation of the actuator were investigated. Three actuators were stitched together to make up each finger of the gripper, and layer placement research was completed to find the fingers’ suitable bending angle for object grasping. Finally, the gripping performance was evaluated through a test of grasping various object shapes, which demonstrated that the gripper could successfully lift flat/spherical/uniquely shaped objects.

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Section: Methodsmentioning

confidence: 99%

Shape Memory Alloys in Textile Platform: Smart Textile-Composite Actuator and Its Application to Soft Grippers

Shin

Han

2023

Sensors

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“…The papers that reported or designed and developed SMA-based soft robots are presented (in chronological order) in the Table 1 which displays the control handle and the parameters that are measured for the particular application. 1 Pulse Width Modulation, 2 Proportional-Integral Derivative, 3 Bang Bang and Interative Learning, 4 Path Planning, 5 Bang bang, 6 Compressing Compensating Algorithm, 7 Bilinear Proportional Integral Derivative, 8 Motion Planning and Greedy Planning Algorithm.…”

Section: Flexible and Soft Robotsmentioning

confidence: 99%

“…However, there are complex systems, like when using to an instrument in higher-order systems it demands a nonlinear control for performance and efficacy at higher rates. With a wide understanding of the inherent characteristics, there has been immense growth in terms of literature reports and commercial growth [1][2][3][4][5][6][7]. Position control in shape memory alloy (SMA) has been researched only in the last two decades and it has been growing in different areas starting from the design and development of a servo type of operation using the aSMA element in different configurations and by using different biasing elements.…”

Section: Introductionmentioning

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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“…In literature, novel arrangements and compliant mechanisms can be found to convert elementary linear strain to global torsional motion. For example, a tensile strain of two SMA wires in two sides of an elastic band can generate a global bending motion (Wang et al, 2008); an addition of torsional prestrain into the manufacturing process of SMA spring can offer an improvement of performance in terms of elongation rate and activation speed (Chung et al, 2019); an arrangement at constant and opposite eccentricity in a polymer matrix can convert the linear motion into a global twisting of the whole device (Rodrigue et al, 2015a). Rodrigue et al (2017) had presented an overview of actuators and robots coupled with wire or linear spring elements.…”

Section: Shape Memory Alloys-based Actuators For Rotational Motionmentioning

confidence: 99%

A Review of SMA-Based Actuators for Bidirectional Rotational Motion: Application to Origami Robots

Rabenorosoa

Ouisse

2021

Front. Robot. AI

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Shape memory alloys (SMAs) are a group of metallic alloys capable of sustaining large inelastic strains that can be recovered when subjected to a specific process between two distinct phases. Regarding their unique and outstanding properties, SMAs have drawn considerable attention in various domains and recently became appropriate candidates for origami robots, that require bi-directional rotational motion actuation with limited operational space. However, longitudinal motion-driven actuators are frequently investigated and commonly mentioned, whereas studies in SMA-based rotational motion actuation is still very limited in the literature. This work provides a review of different research efforts related to SMA-based actuators for bi-directional rotational motion (BRM), thus provides a survey and classification of current approaches and design tools that can be applied to origami robots in order to achieve shape-changing. For this purpose, analytical tools for description of actuator behaviour are presented, followed by characterisation and performance prediction. Afterward, the actuators’ design methods, sensing, and controlling strategies are discussed. Finally, open challenges are discussed.

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Jumping Tensegrity Robot Based on Torsionally Prestrained SMA Springs

Cited by 38 publications

References 37 publications

Shape Memory Alloys in Textile Platform: Smart Textile-Composite Actuator and Its Application to Soft Grippers

Shape Memory Alloys in Textile Platform: Smart Textile-Composite Actuator and Its Application to Soft Grippers

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

A Review of SMA-Based Actuators for Bidirectional Rotational Motion: Application to Origami Robots

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