Design and kinematic analysis of an elephant-trunk-like robot with shape memory alloy actuators

Ruidong Luo; Tianmiao Wang; Zhenyun Shi; Jiawen Tian

doi:10.1109/IAEAC.2017.8053997

Design and kinematic analysis of an elephant-trunk-like robot with shape memory alloy actuators

Ruidong Luo
, Tianmiao Wang
, Zhenyun Shi
, Jiawen Tian

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

In this paper, a new elephant-trunk-like robot with shape memory alloy (SMA) actuators was designed using a modular method. It consisted of a series of 2-degree of freedom (DOF) joint modules and showed the merits of light weight, compact structure, and flexibility. For each joint module, a sensor module based on MPU6050 chip was used to measure the pose of the end-effector in the form of Yaw-Pitch-Row Euler angles. Based on a piecewise-constant-curvature assumption, the kinematic analyses for the one-module robot and n-module robot were performed and developed. Experimental results obtained using the one-module elephant-trunk-like robot demonstrates the efficiency of the kinematic model.

Original language	English
Title of host publication	Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017
Editors	Bing Xu
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	157-161
Number of pages	5
ISBN (Electronic)	9781467389778
DOIs	https://doi.org/10.1109/IAEAC.2017.8053997
State	Published - 29 Sep 2017
Event	2nd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017 - Chongqing, China Duration: 25 Mar 2017 → 26 Mar 2017

Publication series

Name	Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017

Conference

Conference	2nd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017
Country/Territory	China
City	Chongqing
Period	25/03/17 → 26/03/17

Keywords

Elephant-trunk-like robot
Joint module
Kinematic analysis
Shape memory alloy (SMA) actuators

Access to Document

10.1109/IAEAC.2017.8053997

Cite this

Luo, R., Wang, T., Shi, Z., & Tian, J. (2017). Design and kinematic analysis of an elephant-trunk-like robot with shape memory alloy actuators. In B. Xu (Ed.), Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017 (pp. 157-161). Article 8053997 (Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IAEAC.2017.8053997

Luo, Ruidong ; Wang, Tianmiao ; Shi, Zhenyun et al. / Design and kinematic analysis of an elephant-trunk-like robot with shape memory alloy actuators. Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017. editor / Bing Xu. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 157-161 (Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017).

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title = "Design and kinematic analysis of an elephant-trunk-like robot with shape memory alloy actuators",

abstract = "In this paper, a new elephant-trunk-like robot with shape memory alloy (SMA) actuators was designed using a modular method. It consisted of a series of 2-degree of freedom (DOF) joint modules and showed the merits of light weight, compact structure, and flexibility. For each joint module, a sensor module based on MPU6050 chip was used to measure the pose of the end-effector in the form of Yaw-Pitch-Row Euler angles. Based on a piecewise-constant-curvature assumption, the kinematic analyses for the one-module robot and n-module robot were performed and developed. Experimental results obtained using the one-module elephant-trunk-like robot demonstrates the efficiency of the kinematic model.",

keywords = "Elephant-trunk-like robot, Joint module, Kinematic analysis, Shape memory alloy (SMA) actuators",

author = "Ruidong Luo and Tianmiao Wang and Zhenyun Shi and Jiawen Tian",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2nd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017 ; Conference date: 25-03-2017 Through 26-03-2017",

year = "2017",

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day = "29",

doi = "10.1109/IAEAC.2017.8053997",

language = "英语",

series = "Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017",

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Luo, R, Wang, T , Shi, Z & Tian, J 2017, Design and kinematic analysis of an elephant-trunk-like robot with shape memory alloy actuators. in B Xu (ed.), Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017., 8053997, Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017, Institute of Electrical and Electronics Engineers Inc., pp. 157-161, 2nd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017, Chongqing, China, 25/03/17. https://doi.org/10.1109/IAEAC.2017.8053997

Design and kinematic analysis of an elephant-trunk-like robot with shape memory alloy actuators. / Luo, Ruidong; Wang, Tianmiao ; Shi, Zhenyun et al.
Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017. ed. / Bing Xu. Institute of Electrical and Electronics Engineers Inc., 2017. p. 157-161 8053997 (Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Luo, Ruidong

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PY - 2017/9/29

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N2 - In this paper, a new elephant-trunk-like robot with shape memory alloy (SMA) actuators was designed using a modular method. It consisted of a series of 2-degree of freedom (DOF) joint modules and showed the merits of light weight, compact structure, and flexibility. For each joint module, a sensor module based on MPU6050 chip was used to measure the pose of the end-effector in the form of Yaw-Pitch-Row Euler angles. Based on a piecewise-constant-curvature assumption, the kinematic analyses for the one-module robot and n-module robot were performed and developed. Experimental results obtained using the one-module elephant-trunk-like robot demonstrates the efficiency of the kinematic model.

AB - In this paper, a new elephant-trunk-like robot with shape memory alloy (SMA) actuators was designed using a modular method. It consisted of a series of 2-degree of freedom (DOF) joint modules and showed the merits of light weight, compact structure, and flexibility. For each joint module, a sensor module based on MPU6050 chip was used to measure the pose of the end-effector in the form of Yaw-Pitch-Row Euler angles. Based on a piecewise-constant-curvature assumption, the kinematic analyses for the one-module robot and n-module robot were performed and developed. Experimental results obtained using the one-module elephant-trunk-like robot demonstrates the efficiency of the kinematic model.

KW - Elephant-trunk-like robot

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Y2 - 25 March 2017 through 26 March 2017

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Luo R, Wang T , Shi Z, Tian J. Design and kinematic analysis of an elephant-trunk-like robot with shape memory alloy actuators. In Xu B, editor, Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 157-161. 8053997. (Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017). doi: 10.1109/IAEAC.2017.8053997

Design and kinematic analysis of an elephant-trunk-like robot with shape memory alloy actuators

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