Manufacturing of inchworm robot using shape memory alloy (SMA) embedded composite structure

Kim, Min-Saeng; Chu, Wujin; Lee, Jae‐Hoon; Kim, Yunmi

doi:10.1007/s12541-011-0071-2

Cited by 48 publications

(19 citation statements)

References 13 publications

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“…One potential application of the results of the present paper is in the burgeoning field of "soft robotics" [24][25][26][27][28][29][30][31][32][33] Flexible inchworm-type robots were described in [14,34]. Some papers use terms like "inchworm-like robots", "inchworm robot", or "inchworm motion" in their titles, but involve robots that crawl and do not exhibit any or much arching [35][36][37][38][39][40].…”

Section: Introductionmentioning

confidence: 99%

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Mathematical model of inchworm locomotion

Plaut

2015

International Journal of Non-Linear Mechanics

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Section: Introductionmentioning

confidence: 99%

“…Shape memory alloy (SMA) wires are sometimes employed to actuate the locomotion of robots imitating inchworms [2,14,19,27,34,59]. It is possible to predict the bending strains required for such actuations with the use of the type of analysis presented here.…”

Section: Introductionmentioning

confidence: 99%

Mathematical model of inchworm locomotion

Plaut

2015

International Journal of Non-Linear Mechanics

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“…The SMA wire and plate can be used alone or embedded with soft composite structures. Sung-Hoon Ahn and his research group have developed SMA actuated robots such as inchworm, underwater turtle, and various SMA embedded composites actuators for functional applications [26][27][28][29][30] . Wang 16 , et al developed a micro robotic fish propelled by an SMA wire embedded biomimetic fin which imitates the structure of squid/ cuttlefish fin.…”

Section: Introductionmentioning

confidence: 99%

Development of Subcarangiform Bionic Robotic Fish Propelled by Shape Memory Alloy Actuators

Muralidharan

Palani

2021

Def. Sc. J.

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In this paper, a shape memory alloy (SMA) actuated subcarangiform robotic fish has been demonstrated using a spring based propulsion mechanism. The bionic robotic fish developed using SMA spring actuators and light weight 3D printed components can be employed for under water applications. The proposed SMA spring-based design without conventional motor and other rotary actuators was able to achieve two-way shape memory effect and has reproduced the subcarangiform locomotion pattern. The positional kinematic model has been developed and the dynamics of the proposed mechanism were analysed and simulated using Automated Dynamic Analysis of Mechanical Systems (ADAMS). An open loop Arduino-relay based switching control has been adopted to control the periodic actuation of the SMA spring mechanism. The undulation of caudal fin in air and water medium has been analysed. The caudal fin and posterior body of the developed fish prototype have taken part in undulation resembling subcarangiform locomotion pattern and steady swimming was achieved in water with a forward velocity of 24.5 mm/s. The proposed design is scalable, light weight and cost effective which may be suitable for underwater surveillance application.

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“…Several antagonistic configurations of SMA element pairs (wires or springs) have been proposed as actuators in robotic systems, such as driving biomimetic finger joints as artificial muscles (Bundhoo et al, 2009; Gilardi et al, 2010) and actuating revolute joints in neurosurgical robots (Cheng et al, 2017; Ho and Desai, 2013). However, when it has come to realizing the bidirectional body deformation indispensable for a crawling robot, previous designs, such as those proposed by Koh and Cho (2009) and Kim et al (2011), have generally used two-way effect SMA actuators to achieve this purpose, even though such a material property usually requires tedious and complex training and is not easy for engineers to acquire. In our design, the SMA actuator and monolithic robot body are natively antagonistically configured.…”

Section: Introductionmentioning

confidence: 99%

“…As the actuator (consisting of several serial SMA coils) was activated and deactivated, generating a multi-segment Omega shape and extension motion accordingly, the two marginal segments also changed their contact position with the ground, thus forming a differential friction mechanism. Kim et al (2011) proposed an inchworm robot constructed of a glass fiber-reinforced polymer (GFRP) strip, with an SMA wire embedded in the composite as an actuator. The directional movement of the robot was achieved using parallelogram-shaped legs (attached to both ends of the robot body by hinges), which are designed and configured so as to adaptively rotate and change the friction state following the contraction or relaxation of the body.…”

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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Manufacturing of inchworm robot using shape memory alloy (SMA) embedded composite structure

Cited by 48 publications

References 13 publications

Mathematical model of inchworm locomotion

Mathematical model of inchworm locomotion

Development of Subcarangiform Bionic Robotic Fish Propelled by Shape Memory Alloy Actuators

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

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