Soft Morphing Motion of Flytrap Robot Using Bending Propagating Actuation

김승원,; 고재성,; 조맹효,; 조규진,

doi:10.5302/j.icros.2012.18.3.168

Cited by 4 publications

(2 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, if the curvature is large, this actuation only unbends a local part of the curve, and the rest of the curve remains unchanged. In addition, the actuation can create local buckling, and the structure would be distorted [10]. To avoid this problem, this unbending actuation requires a large supporter as a moment arm, or many long supporters.…”

Section: Common Unbending Actuationmentioning

confidence: 99%

See 1 more Smart Citation

Flytrap-inspired robot using structurally integrated actuation based on bistability and a developable surface

et al. 2014

Self Cite

View full text Add to dashboard Cite

The Venus flytrap uses bistability, the structural characteristic of its leaf, to actuate the leaf's rapid closing motion for catching its prey. This paper presents a flytrap-inspired robot and novel actuation mechanism that exploits the structural characteristics of this structure and a developable surface. We focus on the concept of exploiting structural characteristics for actuation. Using shape memory alloy (SMA), the robot actuates artificial leaves made from asymmetrically laminated carbon fiber reinforced prepregs. We exploit two distinct structural characteristics of the leaves. First, the bistability acts as an implicit actuator enabling rapid morphing motion. Second, the developable surface has a kinematic constraint that constrains the curvature of the artificial leaf. Due to this constraint, the curved artificial leaf can be unbent by bending the straight edge orthogonal to the curve. The bending propagates from one edge to the entire surface and eventually generates an overall shape change. The curvature change of the artificial leaf is 18 m(-1) within 100 ms when closing. Experiments show that these actuation mechanisms facilitate the generation of a rapid and large morphing motion of the flytrap robot by one-way actuation of the SMA actuators at a local position.

show abstract

Section: Common Unbending Actuationmentioning

confidence: 99%

“…In particular, it has a large curvature in the closed state. For opening, the previous triggering actuation of the shape with the large curvature required a bulky actuation part [8] and induced a local buckling problem [10]. The new triggering actuation overcomes these limitations.…”

Section: Introductionmentioning

confidence: 99%