Multi-arm robotic swimmer actuated by antagonistic SMA springs

Sfakiotakis, Michael; Kazakidi, Asimina; Evdaimon, Theodoros; Chatzidaki, Avgousta; Tsakiris, Dimitris P.

doi:10.1109/iros.2015.7353572

Cited by 10 publications

(3 citation statements)

References 27 publications

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“…The small one DOF mobile robot is actuated by a pair of SMA springs [30], and the developed mechanism can steer in addition to moving forward on a common plane. Bio-inspired multi-arm underwater robotic swimmers actuated by compliant SMA were modeled and developed by actuating spring elements [31]. A locomotive textile-based robotic system was weaved [32] wherein the fabric is integrated with a woven hybrid SMA-textile actuator based designed system.…”

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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“…However, a variety of other actuation techniques exist based on diverse active or functional materials, for instance, ionic polymer–metal composites (IPMC) (Carrico and Kim, 2017; Firouzeh et al, 2012; Hubbard et al, 2014; Najem et al, 2012; Shen et al, 2013), dielectric elastomers (DE) (Gu et al, 2018; Henke et al, 2017; Jun et al, 2018; Jung et al, 2007; Li et al, 2019), and shape memory alloys (SMAs) (Song et al, 2016a, 2016b; Trimmer and Issberner, 2007; Umedachi et al, 2016a; Wang et al, 2008, 2014). Out of these, SMAs have been employed, in particular, for manipulators (Andrianesis and Tzes, 2015; Sfakiotakis et al, 2015), underwater robots (Engeberg et al, 2015; Villanueva et al, 2011), and various kinds of crawling robot (Kim et al, 2012; Koh and Cho, 2009, 2010; Menciassi and Gorini, 2004). This is because they not only offer a high energy density (of up to 1314 J/kg) and a large output force but are also easy to couple with deformable structures.…”

Section: Introductionmentioning

confidence: 99%

A shape memory alloy–actuated soft crawling robot based on adaptive differential friction and enhanced antagonistic configuration

Chen

Wang

Yao

et al. 2020

Journal of Intelligent Material Systems and Structures

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This article presents a soft crawling robot prototype with a simple architecture inspired by inchworms. The robot functionally integrates the torso (body) and feet in a monolithic curved structure that only needs a single shape memory alloy coil and differential friction to actuate it. A novel foot configuration is proposed, which makes the two feet, with an anti-symmetrical friction layout, can be alternately anchored, to match the contraction–recovery sequence of the body adaptively. Based on the antagonistic configuration between the shape memory alloy actuator and the elastic body, a vertically auxiliary spring was adopted to enhance the interaction mechanism. Force and kinematic analysis was undertaken, focusing on the parametric design of the special foot configuration. A miniature robot prototype was then 3D-printed (54 mm in length and 9.77 g in weight), using tailored thermoplastic polyurethane elastomer as the body material. A series of experimental tests and evaluations were carried out to assess its performance under different conditions. The results demonstrated that under appropriate actuation conditions, the compact robot prototype could accomplish a relative speed of 0.024 BL/s (with a stride length equivalent to 27% of its body length) and bear a load over five times to its own weight.

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“…ue Figura 1. Tentáculo de un pulpo La figura 2 muestra un robot suave bioinspirado en una especie marina, la estrella de mar; el cuerpo del robot suave es un material elastómero, que le brindan características de deformabilidad a grandes escalas, alta flexibilidad, tiene viscoelasticidad, tiempo de recuperación y con diferentes cavidades de aire distribuidas; su movimiento se logra gracias a la presión neumática aplicada a lo largo de las cavidades, el robot se levanta al imprimirle aire (Seok et al, 2010, Shepherd et al, 2011, Nicolette, 2016.…”

Section: Introductionunclassified

Robótica suave: diseño y construcción

Márquez

Lau

Montejano

et al. 2019

ICBI

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En los últimos años, las investigaciones del área de la mecatrónica están encaminadas al desarrollo de robots que ayuden al ser humano en sus actividades cotidianas. Actualmente los trabajos e investigaciones están orientados a los de robots blandos, suaves o softrobots, ya que permiten fácilmente interactuar y adaptarse a cualquier superficie. Los robots blandos tienen una estructura suave, deformables, flexibles, además son seguros comparados con los robots rígidos, sin embargo, son más difíciles de analizar la cinemático y la dinámico. En este artículo describe el estado del arte, clasificación y aplicaciones del robot suave, además se muestra a detalle el diseño y fabricación de un prototipo robot suave llamado pneunet, el diseño de estos es realizado mediante el paquete de software SolidWorks y el molde creando en una impresora 3D. El robot suave está diseñado de material suave y deformable, para que pueda tener sujeción y pueda moverse libremente por todo su espacio de trabajo sin dañar al usuario. El pneunet es construido para conocer el funcionamiento y las características morfológicas de los robots suaves.

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Multi-arm robotic swimmer actuated by antagonistic SMA springs

Cited by 10 publications

References 27 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

A shape memory alloy–actuated soft crawling robot based on adaptive differential friction and enhanced antagonistic configuration

Robótica suave: diseño y construcción

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