Design and kinematic analysis of an elephant-trunk-like robot with shape memory alloy actuators

In this paper, a new elephant-trunk-like robot with shape memory alloy (SMA) actuators was designed using a modular method. It consisted of a series of 2-degree of freedom (DOF) joint modules and showed the merits of light weight, compact structure, and flexibility. For each joint module, a sensor m...

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Bibliographic Details
Published in2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference (IAEAC) pp. 157 - 161
Main Authors Ruidong Luo, Tianmiao Wang, Zhenyun Shi, Jiawen Tian
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.03.2017
Subjects
Actuators
Computational modeling
elephant-trunk-like robot
joint module
kinematic analysis
Kinematics
Pneumatic systems
Robot sensing systems
shape memory alloy (SMA) actuators
Springs
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Summary:In this paper, a new elephant-trunk-like robot with shape memory alloy (SMA) actuators was designed using a modular method. It consisted of a series of 2-degree of freedom (DOF) joint modules and showed the merits of light weight, compact structure, and flexibility. For each joint module, a sensor module based on MPU6050 chip was used to measure the pose of the end-effector in the form of Yaw-Pitch-Row Euler angles. Based on a piecewise-constant-curvature assumption, the kinematic analyses for the one-module robot and n-module robot were performed and developed. Experimental results obtained using the one-module elephant-trunk-like robot demonstrates the efficiency of the kinematic model.
DOI:10.1109/IAEAC.2017.8053997