SMARS-I: Smart Material Actuated Robotic Snake (Ver-1)

Billah, Md. Masum; Khan, Raisuddin; Shafie, Amir Akramin

doi:10.1016/j.matpr.2016.01.093

Cited by 3 publications

(7 citation statements)

References 5 publications

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“…1,2 In this context, smart materials based on electroactive polymers (EAPs) have emerged as particularly attractive candidates, as they exhibit suitable characteristics as self-activated smart materials. 3 EAPs have the ability to deform in the presence of an electric field 3 because their operation relies on the application of an external voltage; EAP actuators present high performance and a wide range of potential applications. 4 These materials are able to produce large strains, making them suitable for applications in sensors and actuators in areas, such as robotic, prosthesis and rehabilitation, 3 environment, 5 and tissue engineering, 6 among others.…”

Section: Introductionmentioning

confidence: 99%

“…3 EAPs have the ability to deform in the presence of an electric field 3 because their operation relies on the application of an external voltage; EAP actuators present high performance and a wide range of potential applications. 4 These materials are able to produce large strains, making them suitable for applications in sensors and actuators in areas, such as robotic, prosthesis and rehabilitation, 3 environment, 5 and tissue engineering, 6 among others. 7 Among all the EAPs, poly(vinylidene fluoride) (PVDF) and its co-polymers are the most widely used polymers for actuator applications; being a piezoelectric material, its actuator performance is characterized by low deformation and high frequency response.…”

Section: Introductionmentioning

confidence: 99%

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Ionic Liquid Cation Size-Dependent Electromechanical Response of Ionic Liquid/Poly(vinylidene fluoride)-Based Soft Actuators

et al. 2019

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This work reports on the development of ionic liquid (IL)/poly(vinylidene fluoride) (PVDF) actuator composites. ILs sharing the same anion (bis-(trifluoromethylsulfonyl)imide, [TFSI] − ), and different cations belonging to the families of pyridinium, imidazolium, and ammonium ions, comprising an alkyl side chains with variable length, were used. The physical−chemical properties, thermal behavior, mechanical, electrical, and bending responses of the PVDF/IL composites were evaluated. The incorporation of ILs into the PVDF matrix leads to an increase of the electroactive β phase content. Moreover, the β phase content increases with the increase of the IL alkyl chain length. The degree of crystallinity depends on the IL chain length as well as on the mechanical properties, revealing the plasticizing behavior exerted by the IL. The electrical conductivity decreased with the increase of the cation alkyl chain size. The highest bending response was observed for the [Pmim][TFSI]/PVDF and [Pmpip][TFSI] composites (where Pmim and Pmpip represent propylimidazolium and propylmethylpiperidinium), being 5.7 and 6.0 mm, respectively, at 5 V and 100 mHz.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Ionic Liquid Cation Size-Dependent Electromechanical Response of Ionic Liquid/Poly(vinylidene fluoride)-Based Soft Actuators

et al. 2019

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“…An experimental setup has been carried out to demonstrate proposed design. The actuator that we used for the experiments is smart material actuated parallel platform as shown in Figure 10 [20]. In this experiment, the link represents the 3-DOF movement according to the proposed kinematic analysis.…”

Section: Methodsmentioning

confidence: 99%

Smart Tendon Actuated Flexible Actuator

Billah

Khan

2015

Journal of Robotics

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We investigate the kinematic feasibility of a tendon-based flexible parallel platform actuator. Much of the research on tendon-driven Stewart platforms is devoted either to the completely restrained positioning mechanism (CRPM) or to one particular type of the incompletely restrained positioning mechanism (IRPM) where the external force is provided by the gravitational pull on the platform such as in cable-suspended Stewart platforms. An IRPM-based platform is proposed which uses the external force provided by a compliant member. The compliant central column allows the configuration to achievenDOFs withntendons. In particular, this investigation focuses on the angular deflection of the upper platform with respect to the lower platform. The application here is aimed at developing a linkable module that can be connected to one another so as to form a “snake robot” of sorts. Since locomotion takes precedence over positioning in this application, a 3-DOF Stewart platform is adopted. For an arbitrary angular displace of the end-effector, the corresponding length of each tendon can be determined through inverse kinematics. Mathematical singularities are investigated using the traditional analytical method of defining the Jacobian.

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“…(a) Drawn by the author; (b) reprinted with permission from Wiley & Son, Journal of Applied Polymer Science, Copyright 1997; 71 (c) reprinted with permission from IOP Science, Smart Materials and Structures, Copyright 2015; 72 (d) reprinted with permission from IOP Science, Smart Materials and Structures, Copyright 2009; 74 (e) reprinted with permission from Elsevier, Materials Today, Copyright 2007; 61 (f) reprinted with permission from an open access article under Copyright Taylor and Francis Group, LLC licence; 76 (g) reprinted with permission from AAAS, Science, Copyright 2012; 77 (h) reprinted with permission from Elsevier, Sensors and Actuators A: Physical, Copyright 2003; 78 (i) reprinted with permission from an open access article under Copyright Taylor and Francis Group, LLC licence; 79 (j) reprinted with permission from IOP Science, Smart Materials and Structures, Copyright 2013; 80 (k) reprinted with permission from an open access article under CC BY-NC licence; 81 and (l) reprinted with permission from Elsevier, Materials Today: Proceedings, Copyright 2016. 82 …”

Section: Artificial Actuator Technologiesmentioning

confidence: 99%

“…79,80 Finally, IPMCs can perform as robotic joints that move in parallel such as IPMCs in a millimetre-sized manipulator (Figure 4(k)) and a snake robot (Figure 4(l)). 81,82…”

Section: Artificial Actuator Technologiesmentioning

confidence: 99%

Comparative study of robotic artificial actuators and biological muscle

Liang

Liu

Wang

et al. 2014

Advances in Mechanical Engineering

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Biological muscles exhibit a high level of integration, in which actuators, sensors and transmission elements can be included in one component. Artificial muscles or actuators refer to intelligent stimuli-responsive materials that could reversibly deform with the trigger of various external stimuli. These materials, which have attracted tremendous attention, produce natural muscle-like actuation performance and show promising applications in robotics. After an introduction of various actuator technologies that contribute to robotic applications, a comparative analysis of the main actuation parameter is provided. The comprehensive comparisons of each kind of artificial muscle are summarised, and the promising properties that are required in robotics are presented, which highlight the development of their actuation performances and the challenges that limit their further employments. Future developmental prospects and perspectives of artificial actuators are discussed.

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SMARS-I: Smart Material Actuated Robotic Snake (Ver-1)

Cited by 3 publications

References 5 publications

Ionic Liquid Cation Size-Dependent Electromechanical Response of Ionic Liquid/Poly(vinylidene fluoride)-Based Soft Actuators

Ionic Liquid Cation Size-Dependent Electromechanical Response of Ionic Liquid/Poly(vinylidene fluoride)-Based Soft Actuators

Smart Tendon Actuated Flexible Actuator

Comparative study of robotic artificial actuators and biological muscle

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