Helical Kirigami-Enabled Centimeter-Scale Worm Robot With Shape-Memory-Alloy Linear Actuators

2015 ◽  
Vol 7 (2) ◽  
Author(s):  
Ketao Zhang ◽  
Chen Qiu ◽  
Jian S. Dai
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Kinematic Model ◽  
Parallel Structure ◽  
Geometrical Parameters ◽  
Parallel Structures ◽  
Complete Procedure ◽  
Motion Characteristics

The wormlike robots are capable of imitating amazing locomotion of slim creatures. This paper presents a novel centimeter-scale worm robot inspired by a kirigami parallel structure with helical motion. The motion characteristics of the kirigami structure are unravelled by analyzing the equivalent kinematic model in terms of screw theory. This reveals that the kirigami parallel structure with three degrees-of-freedom (DOF) motion is capable of implementing both peristalsis and inchworm-type motion. In light of the revealed motion characteristics, a segmented worm robot which is able to imitate contracting motion, bending motion of omega shape and twisting motion in nature is proposed by integrating kirigami parallel structures successively. Following the kinematic and static characteristics of the kirigami structure, actuation models are explored by employing the linear shape-memory-alloy (SMA) coil springs and the complete procedure for determining the geometrical parameters of the SMA coil springs. Actuation phases for the actuation model with two SMA springs are enumerated and with four SMA springs are calculated based on the Burnside's lemma. In this paper, a prototype of the worm robot with three segments is presented together with a paper-made body structure and integrated SMA coil springs. This centimeter-scale prototype of the worm robot is lightweight and can be used in confined environments for detection and inspection. The study presents an interesting approach of integrating SMA actuators in kirigami-enabled parallel structures for the development of compliant and miniaturized robots.

An Origami Parallel Structure Integrated Deployable Continuum Robot

2015 ◽  
Author(s):  
Ketao Zhang ◽  
Chen Qiu ◽  
Jian S. Dai
Keyword(s):  
Translational Motion ◽  
Kinematic Model ◽  
Parallel Structure ◽  
Continuum Robots ◽  
Helical Springs ◽  
Parallel Structures ◽  
Driven System ◽  
Continuum Robot ◽  
Motion Characteristics ◽  
Novel Design

This paper presents a novel design for continuum robots in light of origami inspired folding techniques. The work of the present paper starts from design of a crease pattern, which consists of two triangular bases and three waterbomb bases, and folding process for creating an origami parallel structure in 3D from the crease pattern in 2D. Mapping the origami parallel structure to an equivalent kinematic model, the motion characteristics of the origami structure are unraveled in terms of kinematic principles. The analysis reveals that mixed rotational and translational motion of the origami parallel structure enables both axial contraction and bending motion. A novel multi-section continuum robot with integrated origami parallel structures and bias elements is then proposed to imitate not only bending motion but also contraction of continuum apparatus in nature. According to kinematics of the proposed continuum robot and features of the embedded helical spring in each module, three actuation schemes and their enabled two typical working phases with a tendon driven system are presented. A prototype of the continuum robot with six modules connected in serial is produced and tested. The functionality of the proposed continuum robot by integrating the origami parallel structure as its skeleton and helical springs as the compliant backbone is validated by the preliminary experimental results.

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

2021 ◽  
Vol 71 (1) ◽  
pp. 94-101
Author(s):  
M. Muralidharan ◽  
I.A. Palani
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Kinematic Model ◽  
Open Loop ◽  
Robotic Fish ◽  
Water Medium ◽  
Light Weight ◽  
Caudal Fin ◽  
Locomotion Pattern ◽  
Sma Spring

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.

scholarly journals Design of Shape Memory Alloy-Based Soft Wearable Robot for Assisting Wrist Motion

2019 ◽  
Vol 9 (19) ◽  
pp. 4025 ◽  
Author(s):  
Jaeyeon Jeong ◽  
Ibrahim Bin Yasir ◽  
Jungwoo Han ◽  
Cheol Hoon Park ◽  
Soo-Kyung Bok ◽  
...  
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Degrees Of Freedom ◽  
Wrist Flexion ◽  
Wearable Robot ◽  
Maximum Torque ◽  
Wrist Motion ◽  
Contraction Ratio ◽  
Flexion Extension ◽  
The Average Range

In this paper, we propose a shape memory alloy (SMA)-based wearable robot that assists the wrist motion for patients who have difficulties in manipulating the lower arm. Since SMA shows high contraction strain when it is designed as a form of coil spring shape, the proposed muscle-like actuator was designed after optimizing the spring parameters. The fabricated actuator shows a maximum force of 10 N and a maximum contraction ratio of 40%. The SMA-based wearable robot, named soft wrist assist (SWA), assists 2 degrees of freedom (DOF) wrist motions. In addition, the robot is totally flexible and weighs 151g for the wearable parts. A maximum torque of 1.32 Nm was measured for wrist flexion, and a torque of larger than 0.5 Nm was measured for the other motions. The robot showed the average range of motion (ROM) with 33.8, 30.4, 15.4, and 21.4 degrees for flexion, extension, ulnar, and radial deviation, respectively. Thanks to the soft feature of the SWA, time cost for wearing the device is shorter than 2 min as was also the case for patients when putting it on by themselves. From the experimental results, the SWA is expected to support wrist motion for diverse activities of daily living (ADL) routinely for patients.

Twelve Degree of Freedom Baby Humanoid Head Using Shape Memory Alloy Actuators

2011 ◽  
Vol 3 (1) ◽  
Author(s):  
Yonas Tadesse ◽  
Dennis Hong ◽  
Shashank Priya
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Kinematic Model ◽  
Complementary Metal Oxide Semiconductor ◽  
The Body ◽  
Oxide Semiconductor ◽  
Simulink Model ◽  
The Face ◽  
Nonlinear Dynamics Model ◽  
Driving Circuit

A biped mountable robotic baby head was developed using a combination of Biometal fiber and Flexinol shape memory alloy actuators (SMAs). SMAs were embedded in the skull and connected to the elastomeric skin at control points. An engineered architecture of the skull was fabricated, which incorporates all the SMA wires with 35 routine pulleys, two firewire complementary metal-oxide semiconductor cameras that serve as eyes, and a battery powered microcontroller base driving circuit with a total dimension of 140×90×110 mm3. The driving circuit was designed such that it can be easily integrated with a biped and allows programming in real-time. This 12DOF head was mounted on the body of a 21DOF miniature bipedal robot, resulting in a humanoid robot with a total of 33DOFs. Characterization results on the face and associated design issues are described, which provides a pathway for developing a humanlike facial anatomy using wire-based muscles. Numerical simulation based on SIMULINK was conducted to assess the performance of the prototypic robotic face, mainly focusing on the jaw movement. The nonlinear dynamics model along with governing equations for SMA actuators containing transcendental and switching functions was solved numerically and a generalized SIMULINK model was developed. Issues related to the integration of the robotic head with a biped are discussed using the kinematic model.

Enumeration and instantaneous mobility analysis of a class of 3-UPU parallel manipulators with equilateral triangular platforms

Robotica ◽  
2021 ◽  
pp. 1-32
Author(s):  
Sercan Boztaş ◽  
Gökhan Kiper
Keyword(s):  
Software Package ◽  
Degrees Of Freedom ◽  
Screw Theory ◽  
Parallel Manipulators ◽  
Mobility Analysis ◽  
Specific Design ◽  
Design Task ◽  
Moving Platforms ◽  
Joint Axis ◽  
Motion Characteristics

Abstract In this study, several joint axis orientations on equilateral platforms and the limbs of 3-UPU parallel manipulators (PMs) are examined. The generated joint layouts for the platforms were matched with each other to generate and enumerate manipulator architectures based on certain assumptions. The structures of thus obtained manipulators are examined and limb types were determined. These limb types were analyzed using screw theory. The instantaneous mobility of the manipulators and the motion characteristics of the moving platforms are tabulated. The finite mobility analysis of one of the manipulators is performed using a software package as an example. Among several different 3-UPU PM architectures, 118 novel 3-UPU PMs with non-parasitic 3-degrees-of-freedom are significantly important. The classified 3-UPU PMs with determined motion characteristics can be used by researchers as a design alternative for their specific design task.

Modeling and Experiment of a Flexible Module Actuated by Shape Memory Alloy Wire

2014 ◽  
Author(s):  
A. Hadi ◽  
M. Qasemi ◽  
M. Elahinia ◽  
N. S. Moghaddam
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Basic Structure ◽  
Geometrical Parameters ◽  
Outer Diameter ◽  
Shape Memory Alloy Wire ◽  
Alloy Wire ◽  
Maximum Deformation ◽  
Spring Wire ◽  
Mechanical Manipulators

In recent years many investigations have been performed on design and fabrication of micro mechanical manipulators. One of the practical usages of this manipulator is endoscopy. In an endoscopy system, a small manipulator with high maneuverability and flexibility is required to support the probe’s movement into a colon easier than classic manipulators. In this paper a basic flexible module is presented for use in such an application. The structure of presented module is simple and includes a compressive spring which could be bent to the sides. This tends to more simplicity in addition to proper flexibility. Connecting three wires of shape memory alloy (SMA) uniformly distributed in circumference of spring with an angle of 120 degrees, it is possible to provide an almost large displacement and orientation change between the end planes of module. By using three wires and stimulating them individually or together, different rotation regimes are provided. The flexible module deformation is modeled in this paper thoroughly. Deflection and orientation of spring as the basic structure of the module is studied under the loads. Also, Brinson model is used for modeling the shape memory alloy wire. Afterward, the spring model is coupled with SMA model to describe the dynamic behavior of module under a defined activation. The simulation is implemented in MATLAB-Simulink Though the developed simulation platform, the trajectory of module may be extracted and used for developing a modular manipulator. An experimental setup is prepared to verify the simulation results. Through the simulations, module performance in addition to proper geometrical parameters for the considered application is calculated through the simulations. It is shown that a proper relation between geometrical parameters of spring (like outer diameter, spring wire diameter and number of coils) in combination with a suitable SMA wire in diameter, affect the maximum deformation of SMA-actuated module.

Helical Kirigami-Inspired Centimeter-Scale Worm Robot With Shape-Memory-Alloy Actuators

2014 ◽  
Author(s):  
Ketao Zhang ◽  
Chen Qiu ◽  
Jian S. Dai
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
The Body ◽  
Helical Motion ◽  
Body Structure ◽  
New Approach ◽  
Sma Actuators ◽  
Parallel Kinematic ◽  
Motion Characteristics

The worm-like robots are capable of imitating the amazing locomotion of the long and thin creature. This paper presents a novel centimeter-scale worm robot inspired by a kirigami-fold which is a variation of origami with helical motion. The body structure is extracted from the kirigami structure and its motion characteristics are analyzed in terms of kinematic principles. This leads to identification of the capability of the segmented worm robot with integrated parallel kirigami structures to imitate contracting motion, omega-shaped bending motion and twisting motion of the locomotion in nature. A prototype of the worm robot with three segments is fabricated with paper-made body structure and actuated by shape-memory-alloy (SMA) coil springs. The robot is lightweight and can be used in confined environments for detection and inspection. The study creates a new approach of integrating SMA actuators in origami-enabled parallel kinematic structures for the development of compliant and miniaturized robots including the presented worm robot.

Development of a Proof-of-Concept Aircraft Smart Control System

2009 ◽  
Author(s):  
Parsaoran Hutapea
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Flight Control ◽  
Degrees Of Freedom ◽  
Cooling System ◽  
Control Mechanisms ◽  
Proof Of Concept ◽  
Concept Model ◽  
Actuation System ◽  
Smart Control

Hutapea et al (Aircraft Engineering and Aerospace Technology: 80(4), 439–444, 2008) proposed an actuation system based on shape memory alloy springs for a wing flap of an aircraft. A continued research and development of these previously demonstrated smart flight control mechanisms was performed with the goal to develop a proof-of-concept shape memory alloy (SMA) actuation system, which utilizes SMA springs to control the six degrees of freedom of an aircraft. As a significant advancement to the overall actuation system, an air burst-cooling system was added to increase the cooling rate of the SMA springs by means of forced convection. A one-sixth scale proof-of-concept model was constructed to demonstrate and to verify the final actuation system design.

scholarly journals Research on Kinematics and Pouring Law of a Mobile Heavy Load Pouring Robot

2018 ◽  
Vol 2018 ◽  
pp. 1-13 ◽  
Author(s):  
Long Li ◽  
Chengjun Wang ◽  
Hongtao Wu
Keyword(s):  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Screw Theory ◽  
Great Influence ◽  
Inverse Kinematic ◽  
The Novel ◽  
Heavy Load ◽  
Motion Characteristics ◽  
The Relationship

In order to meet the requirement of continuous pouring in many varieties and small batches in casting production, a mobile heavy load pouring robot is developed based on a new 4-UPU parallel mechanism due to its strong carrying capacity. Firstly, the instantaneous motion characteristics of the novel 4-UPU parallel mechanism with four degrees of freedom (DOF) are analyzed using screw theory. By using the geometric method, both the forward and inverse kinematic solutions of the proposed robot system are given out. Secondly, based on a common pouring ladle, the volume change of pouring liquid in pouring process and the relationship between tilting angular velocity and flow rate are analyzed, and the results show that the shape of the ladle and the design of the pouring mouth have great influence on the tilting model. It is an important basis for the division of the sectional model. Finally, a numerical example is given to verify the effectiveness of the developed tilting model. The mapping relation between the tilting model and the parallel mechanism shows that the pouring flow can be adjusted by controlling the movement of parallel manipulator. The research of this paper provides an important theoretical basis for the position control of mobile heavy load pouring robot and the research of pouring speed control.

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