A Novel Shape Memory Alloy Modular Robot with Spatially Stable Structure
Soft robots exhibit significant flexibility but normally lack stability owing to their inherent low stiffness. Current solutions for achieving variable stiffness or implementing lock mechanisms tend to involve complex structures. Additionally, passive solutions like bistable and multistate mechanism...
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| Format: | Article |
| Language: | English |
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Wiley
2024-10-01
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| Series: | Advanced Intelligent Systems |
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| Online Access: | https://doi.org/10.1002/aisy.202400091 |
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| author | Junlong Xiao Michael Yu Wang Chao Chen |
| author_facet | Junlong Xiao Michael Yu Wang Chao Chen |
| author_sort | Junlong Xiao |
| collection | DOAJ |
| description | Soft robots exhibit significant flexibility but normally lack stability owing to their inherent low stiffness. Current solutions for achieving variable stiffness or implementing lock mechanisms tend to involve complex structures. Additionally, passive solutions like bistable and multistate mechanisms lack spatial stable characteristics. This study presents a novel shape memory alloy (SMA) modular robot with spatially stable structure, by utilizing gooseneck as the backbone. This is the first time that a concept of spatially stable structure is proposed. When the power is off, the robot can still maintain its current posture in three‐dimensional space and resist external disturbance. The SMA spring and gooseneck are characterized, elucidating the mechanism behind achieving spatial stability. Then, a controller based on the inverse kinematics is designed, and validated by experiments. The results demonstrate the structural stability of the robot. Specifically, it can withstand a maximum external force of 2.5 N (0.0875 Nm) when bent at an angle of 20° without consuming energy. Moreover, with the assistance of the SMA spring, this resistance capacity surpasses 5 N (0.175 Nm). |
| format | Article |
| id | doaj-art-342ecc04a55f414fa3547c0d47158795 |
| institution | OA Journals |
| issn | 2640-4567 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj-art-342ecc04a55f414fa3547c0d471587952025-08-20T01:47:33ZengWileyAdvanced Intelligent Systems2640-45672024-10-01610n/an/a10.1002/aisy.202400091A Novel Shape Memory Alloy Modular Robot with Spatially Stable StructureJunlong Xiao0Michael Yu Wang1Chao Chen2Faculty of Engineering Monash University Clayton VIC 3800 AustraliaSchool of Engineering Great Bay University Songshan Lake Dongguan Guangdong 523000 ChinaFaculty of Engineering Monash University Clayton VIC 3800 AustraliaSoft robots exhibit significant flexibility but normally lack stability owing to their inherent low stiffness. Current solutions for achieving variable stiffness or implementing lock mechanisms tend to involve complex structures. Additionally, passive solutions like bistable and multistate mechanisms lack spatial stable characteristics. This study presents a novel shape memory alloy (SMA) modular robot with spatially stable structure, by utilizing gooseneck as the backbone. This is the first time that a concept of spatially stable structure is proposed. When the power is off, the robot can still maintain its current posture in three‐dimensional space and resist external disturbance. The SMA spring and gooseneck are characterized, elucidating the mechanism behind achieving spatial stability. Then, a controller based on the inverse kinematics is designed, and validated by experiments. The results demonstrate the structural stability of the robot. Specifically, it can withstand a maximum external force of 2.5 N (0.0875 Nm) when bent at an angle of 20° without consuming energy. Moreover, with the assistance of the SMA spring, this resistance capacity surpasses 5 N (0.175 Nm).https://doi.org/10.1002/aisy.202400091modular robotshape memory alloysoft bending robotspatially stable structure |
| spellingShingle | Junlong Xiao Michael Yu Wang Chao Chen A Novel Shape Memory Alloy Modular Robot with Spatially Stable Structure Advanced Intelligent Systems modular robot shape memory alloy soft bending robot spatially stable structure |
| title | A Novel Shape Memory Alloy Modular Robot with Spatially Stable Structure |
| title_full | A Novel Shape Memory Alloy Modular Robot with Spatially Stable Structure |
| title_fullStr | A Novel Shape Memory Alloy Modular Robot with Spatially Stable Structure |
| title_full_unstemmed | A Novel Shape Memory Alloy Modular Robot with Spatially Stable Structure |
| title_short | A Novel Shape Memory Alloy Modular Robot with Spatially Stable Structure |
| title_sort | novel shape memory alloy modular robot with spatially stable structure |
| topic | modular robot shape memory alloy soft bending robot spatially stable structure |
| url | https://doi.org/10.1002/aisy.202400091 |
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