...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Bioinspiration & biomimetics >A starfish robot based on soft and smart modular structure (SMS) actuated by SMA wires
【24h】

A starfish robot based on soft and smart modular structure (SMS) actuated by SMA wires

机译：基于SMA线驱动的基于软智能模块结构（SMS）的海星机器人

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper describes the design, fabrication and locomotion of a starfish robot whose locomotion principle is derived from a starfish. The starfish robot has a number of tentacles or arms extending from its central body in the form of a disk, like the topology of a real starfish. The arm, which is a soft and composite structure (which we call the smart modular structure (SMS)) generating a planar reciprocal motion with a high speed of response upon the actuation provided by the shape memory alloy (SMA) wires, is fabricated from soft and smart materials. Based on the variation in the resistance of the SMA wires during their heating, an adaptive regulation (AR) heating strategy is proposed to (i) avoid overheating of the SMA wires, (ii) provide bending range control and (iii) achieve a high speed of response favorable to successfully propelling the starfish robot. Using a finite-segment method, a thermal dynamic model of the SMS is established to describe its thermal behavior under the AR and a constant heating strategy. A starfish robot with five SMS tentacles was tested with different control parameters to optimize its locomotion speed. As demonstrated in the accompanying video file, the robot successfully propelled in semi-submerged and underwater environments show its locomotion ability in the multi-media, like a real starfish. The propulsion speed of the starfish robot is at least an order of magnitude higher than that of those reported in the literature-thanks to the SMS controlled with the AR strategy.
机译：本文描述了一种海星机器人的设计，制造和运动，其运动原理源自海星。该海星机器人具有许多触角或臂，这些触手或臂从其中心体以圆盘的形式延伸，就像真实海星的拓扑一样。该臂是一种柔软的复合材料结构（我们称之为智能模块化结构（SMS）），它由形状记忆合金（SMA）线提供的驱动力产生高水平的平面往复运动，从而产生响应柔软智能的材料。基于SMA线在加热过程中电阻的变化，提出了一种自适应调节（AR）加热策略，以（i）避免SMA线过热，（ii）提供弯曲范围控制，并且（iii）反应速度有利于成功推进海星机器人。使用有限段方法，建立了SMS的热动力学模型，以描述其在AR和恒定加热策略下的热行为。对具有五个SMS触手的海星机器人进行了不同控制参数的测试，以优化其运动速度。如随附的视频文件所示，该机器人在半淹没和水下环境中成功推进，在真正的海星等多媒体中展示了其运动能力。由于采用AR策略控制的SMS，海星机器人的推进速度至少比文献报道的推进速度高一个数量级。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号