TY - GEN
T1 - Design and kinematic analysis of an elephant-trunk-like robot with shape memory alloy actuators
AU - Luo, Ruidong
AU - Wang, Tianmiao
AU - Shi, Zhenyun
AU - Tian, Jiawen
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/9/29
Y1 - 2017/9/29
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
KW - Joint module
KW - Kinematic analysis
KW - Shape memory alloy (SMA) actuators
UR - https://www.scopus.com/pages/publications/85034594163
U2 - 10.1109/IAEAC.2017.8053997
DO - 10.1109/IAEAC.2017.8053997
M3 - 会议稿件
AN - SCOPUS:85034594163
T3 - Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017
SP - 157
EP - 161
BT - Proceedings of 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017
A2 - Xu, Bing
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd IEEE Advanced Information Technology, Electronic and Automation Control Conference, IAEAC 2017
Y2 - 25 March 2017 through 26 March 2017
ER -