Towards a bio-mimetic flytrap robot based on a snap-through mechanism

Author

Kim, Seung-Won ; Koh, Je-Sung ; Cho, Maenghyo ; Cho, Kyu-Jin

Author_Institution

Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea

fYear

2010

fDate

26-29 Sept. 2010

Firstpage

534

Lastpage

539

Abstract

This paper presents a bio-mimetic flytrap robot based on the Venus flytrap, which has rapid snap-through motion. The robot employs a bi-stable unsymmetrically laminated carbon fiber reinforced prepreg (CFRP) structure, which has a bi-stable mechanism that is similar to the Venus flytrap´s passive elastic mechanism. By embedding shape memory alloy springs, large deformation is induced and bi-stable structure can be triggered to snap through. The robot´s working performance shows that the leaves close in about 100ms, and this time for closure is almost the same as that of the Venus flytrap. This concept of the flytrap robot can be applied to rapid grippers of various sizes.

Keywords

biomimetics; carbon fibre reinforced composites; elastic deformation; elasticity; grippers; robot dynamics; shape memory effects; springs (mechanical); C; Venus flytrap; biomimetic flytrap robot; bistable unsymmetrically laminated carbon fiber reinforced prepreg structure; deformation; passive elastic mechanism; rapid grippers; shape memory alloy springs; snap-through motion; Actuators; Carbon; Robots; Shape; Springs; Venus; Wires;

fLanguage

English

Publisher

ieee

Conference_Titel

Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on

Conference_Location

Tokyo

ISSN

2155-1774

Print_ISBN

978-1-4244-7708-1

Type

conf

DOI

10.1109/BIOROB.2010.5627994

Filename

5627994