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A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism
Meng, Lingda1,2; Kang RJ(康荣杰)1; Gan, Dongming3; Chen, Guimin4; Chen LS(陈丽莎)5; Branson, David T.6; Dai, Jian S.7
Department空间自动化技术研究室
Source PublicationJournal of Mechanisms and Robotics
ISSN1942-4302
2020
Volume12Issue:6Pages:1-15
Indexed ByEI
EI Accession number20204109305700
Contribution Rank1
Funding OrganizationNational Key R&D Program of China (Grant Nos. 2018YFB1304600 and 2019YFB1309800) ; Nature Science Foundation of China (Grant Nos. 51875393, 51605329, 51535008, and 51721003) ; State Key Laboratory of Robotics Foundation of China (Grant No. 2019-O04)
Keywordmechanical intelligence (MI) shape memory alloy complaint bistable mechanism crawling robot
Abstract

Mechanical components in a robotic system were used to provide body structure and mechanism to achieve physical motions following the commands from electronic controller. This kind of robotic system utilizes complex hardware and firmware for sensing and planning. To reduce computational cost and increase reliability for a robotic system, employing mechanical components to fully or partially take over control tasks is a promising way, which is also referred to as "mechanical intelligence" (MI). This paper proposes a shape memory alloy driven robot capable of using a reciprocating motion to crawl over a surface without any use of electronic controller. A mechanical logic switch is designed to determine the activation timing for a pair of antagonistic shape memory alloy (SMA) actuators. Meanwhile, a compliant pre-strain bistable mechanism is introduced to cooperate with the SMA actuators achieving reliable reciprocating motion between the two stable positions. The SMA actuator is modeled base on a static two-state theory while the bistable mechanism is described by combining a pseudo-rigid-body model (PRBM) with a Bi-beam constraint model (Bi-BCM). Following this, the design parameters of the bistable mechanism and SMA actuators are determined according to theoretical simulations. Finally, a robotic prototype is fabricated using anisotropic friction on its feet to convert the reciprocating motion of the actuator to uni-directional locomotion of the robot body over a surface. Experiments are carried out to validate the presented design concept and the modeling methods.

Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/27719
Collection空间自动化技术研究室
Corresponding AuthorKang RJ(康荣杰)
Affiliation1.Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Tianjin University, Tianjin, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110169, China
3.Khalifa University of Science and Technology, Abu Dhabi
4.127788, United Arab Emirates
5.Shaanxi Key Laboratory of Intelligent Robots, Xi'an Jiaotong University, Xi'an, Shaanxi 710049, China
6.School of Mechanical Engineering, Tiangong University, Tianjin 300387, China
7.Faculty of Engineering, University of Nottingham, Nottingham NG7 2RD, United Kingdom
8.Centre for Robotics Research, King's College London, London WC2R 2LS, United Kingdom
Recommended Citation
GB/T 7714
Meng, Lingda,Kang RJ,Gan, Dongming,et al. A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism[J]. Journal of Mechanisms and Robotics,2020,12(6):1-15.
APA Meng, Lingda.,Kang RJ.,Gan, Dongming.,Chen, Guimin.,Chen LS.,...&Dai, Jian S..(2020).A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism.Journal of Mechanisms and Robotics,12(6),1-15.
MLA Meng, Lingda,et al."A Mechanically Intelligent Crawling Robot Driven by Shape Memory Alloy and Compliant Bistable Mechanism".Journal of Mechanisms and Robotics 12.6(2020):1-15.
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