Modular Design of an SMA Driven Continuum Robot

Goergen, Yannik; Rizzello, Gianluca; Seelecke, Stefan; Motzki, Paul

doi:10.1115/smasis2020-2213

Cited by 13 publications

(11 citation statements)

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“…In order to realize the miniaturization configuration of continuum robots, many cutting-edge materials have been developed and used to realize the actuation of robots, showing unique advantages [38,[59][60][61]. The soft continuum robots embedded with micromagnet or made of ferromagnetic composite material have accurate steering ability under an external controllable magnetic field; its bending angle could exceed 180 degrees and has high positioning accuracy up to 10 μm [49].…”

Section: Classification Of the Design And Actuation Principlementioning

confidence: 99%

A Survey on Design, Actuation, Modeling, and Control of Continuum Robot

et al. 2022

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In this paper, we describe the advances in the design, actuation, modeling, and control field of continuum robots. After decades of pioneering research, many innovative structural design and actuation methods have arisen. Untethered magnetic robots are a good example; its external actuation characteristic allows for miniaturization, and they have gotten a lot of interest from academics. Furthermore, continuum robots with proprioceptive abilities are also studied. In modeling, modeling approaches based on continuum mechanics and geometric shaping hypothesis have made significant progress after years of research. Geometric exact continuum mechanics yields apparent computing efficiency via discrete modeling when combined with numerical analytic methods such that many effective model-based control methods have been realized. In the control, closed-loop and hybrid control methods offer great accuracy and resilience of motion control when combined with sensor feedback information. On the other hand, the advancement of machine learning has made modeling and control of continuum robots easier. The data-driven modeling technique simplifies modeling and improves anti-interference and generalization abilities. This paper discusses the current development and challenges of continuum robots in the above fields and provides prospects for the future.

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Section: Classification Of the Design And Actuation Principlementioning

confidence: 99%

A Survey on Design, Actuation, Modeling, and Control of Continuum Robot

et al. 2022

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“…An example of SMA continuum robot is shown in Fig. 1(a) [16]. It is based on a serial connection of several bendable modules, each one consisting of a flexible backbone connecting two rigid spacers.…”

Section: Motivation: Sma Wire Driven Flexible Robotsmentioning

confidence: 99%

A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

Mandolino¹,

Ferrante²,

Rizzello³

2021

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In this paper, a hybrid model for single-crystal Shape Memory Alloy (SMA) wire actuators is presented. The result is based on a mathematical reformulation of the M üller-Achenbach-Seelecke (MAS) model, which provides an accurate and interconnection-oriented description of the SMA hysteretic response. The strong nonlinearity and high numerical stiffness of the MAS model, however, hinder its practical use for simulation and control of complex SMA-driven systems. The main idea behind the hybrid reformulation is based on dividing the mechanical hysteresis of the SMA into five operating modes, each one representing a different physical state of the material. By properly deriving the switching conditions among those modes in a physically-consistent way, the MAS model is effectively reformulated within a hybrid dynamical setting. The main advantage of the hybrid reformulation is the possibility of describing the material dynamics with a simplified set of state equations while maintaining all benefits of the physicsbased description offered by the MAS model After describing the novel approach, simulation studies are conducted on a flexible robotic module actuated by protagonist-antagonist SMA wires. Through comparative numerical analysis, it is shown how the hybrid model provides the same accuracy as the MAS model while saving up to 80% of the simulation time. Moreover, the new modeling framework opens up the possibility of addressing SMA control from a hybrid systems perspective.

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“…In Yang and Asbeck (2020) and Chen et al (2020), vertically aligned robotic manipulators are presented using fluidic actuators. In Cheng et al (2019) and Goergen et al (2020), the vertically aligned robots use shape memory alloy (SMA) to actuate different parts of their bodies. Although these actuators demonstrate a high force to weight ratio, they lack the precision of other soft actuators, such as dielectric elastomer actuators (DEA) and tendons.…”

Section: Introductionmentioning

confidence: 99%

Design and performance of a slender soft continuum manipulator for tall structure inspection

Shoani

Ribuan

Faudzi

2023

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Purpose The current methods for inspecting tall or deep structures such as towers, chimneys, silos, and wells suffer from certain constraints. Manual and assisted inspection methods including humans, drones, wall climbing robots, and others are either costly, have a limited operation time, or affected by field conditions, such as temperature and radiation. This study aims to overcome the presented challenges through a teleoperated soft continuum manipulator capable of inspecting tall or deep structures with high resolution, an unlimited operation time and the ability to use different arms of the manipulator for different environments and structure sizes. Design/methodology/approach The teleoperated manipulator uses one rotary and two tendon actuators to reach and inspect the interior of a tall (or deep) structure. A sliding part along the manipulator’s body (arm constrainer and tendon router) induces a variable-length bending segment, allowing an inspection camera to be placed at different distances from the desired location. Findings The experiments confirmed the manipulator’s ability to inspect different locations in the structure’s interior. The manipulator also demonstrated a submillimeter motion resolution vertically and a 2.5 mm per step horizontally. The inspection time of the full structure was 48.53 min in the step-by-step mode and was calculated to be 4.23 min in the continuous mode. Originality/value The presented manipulator offers several design novelties: the arm’s thin-wide cross-section, the variable-length bending segment in a fixed-length body, the external rolling tendon routing and the ability to easily replace the arm with another of different material or dimensions to suite different structures and environments.

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Modular Design of an SMA Driven Continuum Robot

Cited by 13 publications

References 0 publications

A Survey on Design, Actuation, Modeling, and Control of Continuum Robot

A Survey on Design, Actuation, Modeling, and Control of Continuum Robot

A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

Design and performance of a slender soft continuum manipulator for tall structure inspection

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