DocumentCode :
22878
Title :
Meshworm: A Peristaltic Soft Robot With Antagonistic Nickel Titanium Coil Actuators
Author :
Sangok Seok ; Onal, Cagdas D. ; Kyu-Jin Cho ; Wood, Robert J. ; Rus, Daniela ; Sangbae Kim
Author_Institution :
Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA
Volume :
18
Issue :
5
fYear :
2013
fDate :
Oct. 2013
Firstpage :
1485
Lastpage :
1497
Abstract :
This paper presents the complete development and analysis of a soft robotic platform that exhibits peristaltic locomotion. The design principle is based on the antagonistic arrangement of circular and longitudinal muscle groups of Oligochaetes. Sequential antagonistic motion is achieved in a flexible braided mesh-tube structure using a nickel titanium (NiTi) coil actuators wrapped in a spiral pattern around the circumference. An enhanced theoretical model of the NiTi coil spring describes the combination of martensite deformation and spring elasticity as a function of geometry. A numerical model of the mesh structures reveals how peristaltic actuation induces robust locomotion and details the deformation by the contraction of circumferential NiTi actuators. Several peristaltic locomotion modes are modeled, tested, and compared on the basis of speed. Utilizing additional NiTi coils placed longitudinally, steering capabilities are incorporated. Proprioceptive potentiometers sense segment contraction, which enables the development of closed-loop controllers. Several appropriate control algorithms are designed and experimentally compared based on locomotion speed and energy consumption. The entire mechanical structure is made of flexible mesh materials and can withstand significant external impact during operation. This approach allows a completely soft robotic platform by employing a flexible control unit and energy sources.
Keywords :
closed loop systems; elasticity; electroactive polymer actuators; energy consumption; flexible structures; mobile robots; net structures (mechanical); nickel alloys; robot kinematics; shape memory effects; springs (mechanical); titanium alloys; NiTi; SMA material; antagonistic nickel titanium coil actuators; circular muscle antagonistic arrangement; closed-loop controllers; energy consumption; energy sources; external impact; flexible braided mesh-tube structure; flexible control unit; flexible mesh materials; locomotion speed; longitudinal muscle antagonistic arrangement; martensite deformation; mesh structures numerical model; meshworm; nickel titanium coil spring; oligochaetes; peristaltic actuation; peristaltic locomotion modes; peristaltic soft robot; proprioceptive potentiometers; segment contraction sensing; sequential antagonistic motion; soft robotic platform; spring elasticity; steering capabilities; Actuators; Annealing; Coils; Mathematical model; Robots; Springs; Wires; Bioinspired robotics; earthworm robot; nickel titanium (NiTi) coil springs; peristaltic locomotion; shape memory alloy (SMA) actuation; soft robotics;
fLanguage :
English
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
Publisher :
ieee
ISSN :
1083-4435
Type :
jour
DOI :
10.1109/TMECH.2012.2204070
Filename :
6232458
Link To Document :
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