Method for simulative reproduction, verification and technical adaptation as part of biological kinematics studies

Löffler, Robin; Rucker, D. Caleb; Müller, Fabian; Hornfeck, Rüdiger

doi:10.1016/j.procir.2021.05.138

Cited by 5 publications

(12 citation statements)

References 10 publications

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“…The research team analyzed the interactions of the owls’ neck and used this information to design more energy-efficient joints for construction machinery or handling robots used in healthcare. As a result, a technical prototype was developed which uses actuators made of shape memory alloys [ 38 ].…”

Section: Introductionmentioning

confidence: 99%

Biomimetic Research for Applications Addressing Technical Environmental Protection

Wommer

Wanieck

2022

Biomimetics

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Biomimetic research has increased over the last decades, and the development process has been systemized regarding its methods and tools. The aim of biomimetics is to solve practical problems of real-life scenarios. In this context, biomimetics can also address sustainability. To better understand how biomimetics research and development can achieve more sustainable solutions, five projects of applied research have been monitored and analyzed regarding biological models, abstracted biological principles, and the recognition of the applied efficiency strategies. In this manuscript, the way in which sustainability can be addressed is described, possibly serving as inspiration for other projects and topics. The results indicate that sustainability needs to be considered from the very beginning in biomimetic projects, and it can remain a focus during various phases of the development process.

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Section: Introductionmentioning

confidence: 99%

Biomimetic Research for Applications Addressing Technical Environmental Protection

Wommer

Wanieck

2022

Biomimetics

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“…After the technical design of the cervical spine, its overall mobility was simulated and successfully verified with the help of inverse kinematics [23] in the development environment of Unity3D 2018.4.11f1 (Unity Technologies, San Francisco, US). The procedure for the simulative verification of the biological movement was described in [18] using a specifically developed method.…”

Section: Transfer Of the Biological Model To Technical Joint Assembliesmentioning

confidence: 99%

“…The articulated robot arm was controlled by the simulation of inverse kinematics [23], which always utilised the minimum or maximum limit stop positions of the individual technical vertebrae. The number of 23 technical vertebrae, each with two possible limit stop positions, ensured sufficient freedom of movement, as described in [18]. A complex control of the SMA wires to hold intermediate positions of the individual technical vertebrae was therefore not necessary.…”

Section: A Prototype Of the Implementation Is Availablementioning

confidence: 99%

“…The target point of the gripper to be reached was determined and the inverse kinematics calculated the individual positions of the individual technical vertebrae. This inverse kinematics is based on the simulation described in [18]. A control system to track the actual pose of the robot arm has not yet been implemented in the described prototype.…”

Section: A Prototype Of the Implementation Is Availablementioning

confidence: 99%

“…The need to design such joint assemblies arose during research into a bionic joint robot arm (hyper redundant robot) based on the model of the cervical spine of American barn owls [18]. The delicate vertebral structures with the internal supply channels of the owl's neck [19] had to be technically abstracted and reproduced.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Owl Neck Spine inspired, Additively Manufactured, Joint Assemblies with Shape Memory Alloy Wire Actuators

Löffler¹,

Tremmel²,

Hornfeck³

2023

Preprint

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Nature provides plenty of good examples for simple and very efficient joint assemblies. One example is the enormously flexible cervical spine of American barn owls, which consists of 14 cervical vertebrae. Each pair of vertebrae produces a comparatively small individual movement in order to provide a large overall movement of the entire cervical spine. The biomimetic replication of such joints is difficult due to the delicate and geometric unrestricted joint shapes as well as the muscles that have to be mimicked. Using X-ray as well as micro computed tomography images and with the utilisation of additive manufacturing, it is possible to produce the owl neck vertebrae in scaled-up form, to analyse them and then to transfer them into technically usable joint assemblies. The muscle substitution of these joints is realised by smart materials actuators in the form of shape memory alloy wire actuators. This actuator technology is outstanding for its muscle-like movement and for its enormous energy density [1,2]. The disadvantage of this wire actuator technology is the low rate of contraction, which means that a large length of wire has to be installed to generate adequate movement. For this reason, the actuator wires are integrated into additively manufactured carrier components to mimic the biological joints. This results in joint designs that compensate for the disadvantages of the small contraction of the actuators by intelligently installing large wire lengths on comparatively small installation spaces, while also providing a sufficient force output. With the help of a test rig, the developed technical joint variants are examined and evaluated. This demonstrates the technical applicability of this bionic joints.

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Development and Implementation of a Guideline for the Combination of Additively Manufactured Joint Assemblies with Wire Actuators made of Shape Memory Alloys

2023

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Method for simulative reproduction, verification and technical adaptation as part of biological kinematics studies

Cited by 5 publications

References 10 publications

Biomimetic Research for Applications Addressing Technical Environmental Protection

Biomimetic Research for Applications Addressing Technical Environmental Protection

Owl Neck Spine inspired, Additively Manufactured, Joint Assemblies with Shape Memory Alloy Wire Actuators

Development and Implementation of a Guideline for the Combination of Additively Manufactured Joint Assemblies with Wire Actuators made of Shape Memory Alloys

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