Design and Control of Turtle Locomotion-Inspired Robots Actuated By Antagonistic Shape Memory Alloy Springs

Li, Junfeng; Huang, YongAn

doi:10.1109/tmech.2022.3153512

Cited by 4 publications

(2 citation statements)

References 36 publications

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“…For the tracking control of magnetic-wheeled climbing robots, the dual-heuristic dynamic programming method can be improved by adopting random vector functional link neural networks as an actor-critic structure, which can significantly improve the transient response performance [ 127 ]. For a quadrupedal robot that mimics turtle locomotion, the antagonistic actuation model combined with an RBF compensator can be used to control the bending angle of the flippers, thus achieving more rapid tracking compared with conventional PD control [ 128 ]. In addition, neural networks can be combined with advanced control methods to achieve better performance.…”

Section: Control Methods For Climbing Robotsmentioning

confidence: 99%

Climbing robots for manufacturing

Tao

Gong

Ding

2023

National Science Review

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Robotized intelligent manufacturing is a growing trend in the manufacturing of large and complex components in aviation, aerospace, marine engineering and other industries. With their expansive workspaces and flexible deployment, climbing manufacturing robots can create a revolutionary manufacturing paradigm for large and complex components. This paper defines the climbing manufacturing robot based on the application status of climbing robots and then analyses four key technical requirements: adhesion, locomotion, localisation and control. Subsequently, the current research status of climbing robots in these four areas is classified and reviewed, along with a clarification of the research frontiers and trends in each area, and the applicability of the relevant research to manufacturing-oriented climbing robotic systems is analysed. Finally, by concluding the development trends of robotized intelligent manufacturing equipment in terms of manufacturing dimension and scale, environmental adaptability and cluster collaboration capability, we clarify the major challenges for climbing manufacturing robots in terms of adhesion principles, motion mechanisms, positioning technology and control methods, and propose future research directions in these fields.

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Section: Control Methods For Climbing Robotsmentioning

confidence: 99%

Climbing robots for manufacturing

Tao

Gong

Ding

2023

National Science Review

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“…[20], a crawling robot was introduced, employing an actuator based on SMA springs to achieve exible movements resembling those of earthworms. Similarly, Li et al [21] demonstrated the implementation of bending motions utilizing an on-off system of SMA springs, enabling the robot to crawl on the oor without requiring precise control. Furthermore, Ahmed et al [22] developed an octopusmimicking robot that exhibited impressive performance through the utilization of SMA springs and a proportional-integral (PI) controller to replicate the movements of an octopus.…”

Section: Introductionmentioning

confidence: 99%

Model-based Design of Reconfigurable Compliant Gripper Actuated with SMA Springs

Chen,

Duc,

Schott

et al. 2024

Preprint

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Shape memory alloy (SMA) springs find extensive application in flexible actuation due to their significant capacity for deformability. However, each individual SMA spring only provides limited deformation modes, which prevents the SMA spring based grippers from applying in complicated grasping scenarios. In this study, a reconfigurable compliant gripper with multiple SMA springs is proposed to achieve multifunctional grasping tasks and large motion range. The proposed gripper uses multiple SMA springs for actuation, integrated in segments as building units to shape the gripper fingers. Also, the complete reconfigurable system was designed to accommodate for multiple compliant gripper fingers for flexibility. The reconfigurable compliant gripper is designed by numerical modeling and validated with lad-scaled experiments. The coupling method of Finite Element Analysis (FEA) and Multi Body Dynamics (MBD) was introduced in the modelling of the gripper. The results indicate that the numerical model shows very similar behavior as the experiments. Then, the multiple SMA spring allows for multidirectional bending behavior across the range of bending angle from 0 to 124 degrees. The reconfigurable compliant gripper system can grasp objects of different shapes and weights. Thus, the proposed reconfigurable compliant gripper can lead to a series of novel design solutions for different scales of grasping tasks.

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A Tristable Actuator for a Bidirectional Crawling and Falling-Rebootable Robot

Jiang,

Li,

et al. 2024

IEEE/ASME Trans. Mechatron.

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Design and Control of Turtle Locomotion-Inspired Robots Actuated By Antagonistic Shape Memory Alloy Springs

Cited by 4 publications

References 36 publications

Climbing robots for manufacturing

Climbing robots for manufacturing

Model-based Design of Reconfigurable Compliant Gripper Actuated with SMA Springs

A Tristable Actuator for a Bidirectional Crawling and Falling-Rebootable Robot

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