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Soft robot with a novel variable friction design actuated by SMA and electromagnet

文献类型：期刊论文

作者Li, Junfeng1; Chang, Wenkai2; Li, Qiyu1
刊名SMART MATERIALS AND STRUCTURES
出版日期2018-11-01
卷号27期号:11页码:11
关键词SMA soft robot electromagnet variable friction
ISSN号0964-1726
DOI10.1088/1361-665X/aae412
通讯作者Li, Junfeng(jflichina@whut.edu.cn)
英文摘要A novel variable friction mechanism is presented for a soft robot that can both move on a flat smooth surface and crawl on a steep smooth surface. First, the variable friction mechanism of the head and tail parts is presented, which can achieve three different frictions (low, medium and high) using SMA3 wire and an electromagnet. In addition, the lightweight and simple structures of both the body and steering parts are demonstrated. Second, according to the variable friction mechanism and the crawling locomotion sequence of the body, head and tail parts, the crawling performance is tested. When the head and tail parts switch between low and medium friction, the soft robot's maximum inclined surface angles for climbing up and down are 6 degrees and 12 degrees, respectively; the corresponding values are 12 degrees and 42 degrees, respectively, when the head and tail parts switch between high and medium friction. Finally, the steering ability of the soft robot is confirmed to be due to the tunable high friction. In conclusion, a novel three-state switch mechanism using a shape memory alloy and an electromagnet for variable friction is presented, which can help the soft robot achieve crawl and steer.
WOS关键词STIFFNESS ; COMPLIANT ; MODEL
资助项目National Natural Science Foundation of China[51705382]
WOS研究方向Instruments & Instrumentation ; Materials Science
语种英语
WOS记录号WOS:000456486500004
出版者IOP PUBLISHING LTD
资助机构National Natural Science Foundation of China
源URL[http://ir.ia.ac.cn/handle/173211/25349]  
专题智能机器人系统研究
通讯作者Li, Junfeng
作者单位1.Wuhan Univ Technol, Sch Mech & Elect Engn, 122 Luoshi Rd, Wuhan 430070, Hubei, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Li, Junfeng,Chang, Wenkai,Li, Qiyu. Soft robot with a novel variable friction design actuated by SMA and electromagnet[J]. SMART MATERIALS AND STRUCTURES,2018,27(11):11.
APA Li, Junfeng,Chang, Wenkai,&Li, Qiyu.(2018).Soft robot with a novel variable friction design actuated by SMA and electromagnet.SMART MATERIALS AND STRUCTURES,27(11),11.
MLA Li, Junfeng,et al."Soft robot with a novel variable friction design actuated by SMA and electromagnet".SMART MATERIALS AND STRUCTURES 27.11(2018):11.

入库方式： OAI收割

来源：自动化研究所

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