Investigations on Bending Characteristics of Soft Mesh Structure using Shape Memory Alloy Spring Towards Bio-Inspired Robotic Applications

被引：0
作者：
M. Muralidharan
A. Brolin
R. Mithun
Rohit Patil
I. A. Palani
机构：
[1] Indian Institute of Technology Indore,Mechatronics and Instrumentation Laboratory
[2] A.C. Govt. College of Engineering and Technology,undefined
[3] VIT University,undefined
来源：
Iranian Journal of Science and Technology, Transactions of Mechanical Engineering | 2021年 / 45卷
关键词：
Bioinspired robot; Inchworm; Shape memory alloy; Peristaltic locomotion; Two anchor locomotion; Soft robotics;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A biomimetic soft worm robot has been developed using soft mesh structured polyethylene terephthalate thermoplastic driven by shape memory alloy springs. The bending behaviour of the robot for achieving steering in peristaltic and bending for two anchor locomotion has been investigated in detail. A flex sensor is attached with the soft worm to measure the bending/steering angle. An open-loop control approach is adopted for the study of soft worm’s bending actions. In peristaltic crawling, a bending angle of 57°, 48° and 48° was achieved in upward, left and right directions, respectively. The movement of the soft worm robot has been probed towards imitating the bending action of two anchor crawling locomotion with kapton polyamide legs. In two anchor crawling, a bending angle of 60° is achieved in downward direction.
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页码：927 / 937
页数：10
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