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Research and Development of a Biomorphic Robot Driven by Shape Memory Alloys
Abstract:In this study, we used shape memory alloys as actuators to build a biomorphic robot which can imitate the motion of an earthworm. The robot can be used to explore in a narrow space. Therefore we chose shape memory alloys as actuators. Because of the small deformation of a wire shape memory alloy, spiral shape memory alloys are selected and installed both on the X axis and Y axis (each axis having two shape memory alloys) to enable the biomorphic robot to do reciprocating motion. By the mechanism we designed, the robot can increase the distance as it moves in a duty cycle. In addition, two shape memory alloys are added to the robot head for controlling right and left turns. By sending pulses through the I/O card from the controller, the signals are then amplified by a driver to heat the shape memory alloys in order to make the SMA shrink to pull the mechanism to move.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1076978Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1309
 B. Kim, M. G. Lee, Y .P. Lee, Y. Kim, and G. H. Lee, "An earthworm-like micro robot using shape memory alloy actuator," Sensors and Actuators A: Physical, vol. 125, pp. 429-437, Jan. 2006.
 A. Menciassic, S. Gorini, G. Pernorio, and P. Dairo, "A SMA actuated artificial earthworm," IEEE International Conference on Robotics and Automation, New Orleans, USA, 2004
 Tanaka, "A thermomechanical sketch of shape memory effect: one-dimensional tensile behavior," Res mech, vol. 18, pp. .251-63, 1986.
 Kai-Chi Shiu, Dynamic Analysis & Motion Control of A Bio-mimic Robot, Master Thesis, National Taiwan University, Taipei, 2005.