Locomotion of crawling robots made of smart soft composite (SSC) (ICCAS 2013)

Author

Wei Wang ; Jang-Yeob Lee ; Ji-Soo Kim ; Kyung-Tae Lee ; Hyung-Soo Kim ; Sung-Hoon Ahn

Author_Institution

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

fYear

2013

fDate

20-23 Oct. 2013

Firstpage

309

Lastpage

312

Abstract

In this study, a crawling robot belonging to soft morphing structures using a shape memory alloy (SMA) wires embedded smart soft composite (SSC) was designed and fabricated. In order to obtain a high movement speed, the active components, SMA wires, were placed to go through the whole body to increase robot stride length. Then, the performances of the prototype including deformation measurements, actuation force, loading capacity and repeatability of actuation were tested. Lastly, the locomotion of the crawling robot was evaluated and its speed was of 0.83 mm/s.

Keywords

composite materials; electroactive polymer actuators; mobile robots; shape memory effects; SMA wires; SSC; actuation force; crawling robots; deformation measurements; embedded smart soft composite; loading capacity; locomotion; morphing structures; repeatability; robot stride length; shape memory alloy; Foot; Force; Lasers; Robot sensing systems; Shape; Shape measurement; Tin; Crawling Robot; Smart Soft Composite(SSC); Soft Morphing Structure;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation and Systems (ICCAS), 2013 13th International Conference on

Conference_Location

Gwangju

ISSN

2093-7121

Print_ISBN

978-89-93215-05-2

Type

conf

DOI

10.1109/ICCAS.2013.6703914

Filename

6703914