Publication

An untethered mechanically-intelligent inchworm robot powered by a shape memory alloy oscillator

Yves Perriard, Paolo Germano, Thomas Guillaume Martinez, Sean Thomas
2021
Journal Articles

Abstract

Shape Memory Alloy (SMA) based actuators have become ideal candidates for use in compact and lightweight applications. These smart materials have often been referred to as artificial muscles due to their high work volume density. In this paper, a flexure-based SMA powered mechanical oscillator is developed to create an inchworm robot. Here, a novel magnetic latch system is used to create a mechanically-intelligent system that allows the abstraction of any sensors such as temperature probes. This insect robot, weighing only 9.7 g, operates without any control logic or micro-controller and is able to perform a crawling gait untethered. An analytical model of the thermal properties of the SMA coil, for the sizing of the robot speed, and an analytical model of the step length of the insect robot is presented and validated. A working prototype, with a speed of 1.55 mms−1, is showcased in this work.

Official source

https://infoscience.epfl.ch/entities/publication/b2a3c446-89e8-4207-afa3-11210873dede

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Yves Perriard, Paolo Germano, Thomas Guillaume Martinez, Sean Thomas
2021
Journal Articles

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/b2a3c446-89e8-4207-afa3-11210873dede

About this result

Ontological neighbourhood

Mechanical engineering

Robotics: Topics in robotics

Related concepts (21)

Robot locomotion

Robot locomotion is the collective name for the various methods that robots use to transport themselves from place to place. Wheeled robots are typically quite energy efficient and simple to control. However, other forms of locomotion may be more appropriate for a number of reasons, for example traversing rough terrain, as well as moving and interacting in human environments. Furthermore, studying bipedal and insect-like robots may beneficially impact on biomechanics.

Robot

A robot is a machine—especially one programmable by a computer—capable of carrying out a complex series of actions automatically. A robot can be guided by an external control device, or the control may be embedded within. Robots may be constructed to evoke human form, but most robots are task-performing machines, designed with an emphasis on stark functionality, rather than expressive aesthetics.

Shape-memory alloy

In metallurgy, a shape-memory alloy (SMA) is an alloy that can be deformed when cold but returns to its pre-deformed ("remembered") shape when heated. It is also known in other names such as memory metal, memory alloy, smart metal, smart alloy, and muscle wire. The "memorized geometry" can be modified by fixating the desired geometry and subjecting it to a thermal treatment, for example a wire can be taught to memorize the shape of a coil spring.

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