Design and kinematic analysis of an elephant-trunk-like robot with shape memory alloy actuators
| Autor: | Tianmiao Wang, Ruidong Luo, Zhenyun Shi, Jiawen Tian |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Robot kinematics Robot calibration Inverse kinematics Computer science 010401 analytical chemistry 02 engineering and technology Kinematics Robot end effector 01 natural sciences 0104 chemical sciences law.invention Computer Science::Robotics 020901 industrial engineering & automation Articulated robot law Control theory Robot Astrophysics::Galaxy Astrophysics Delta robot Simulation |
| Zdroj: | 2017 IEEE 2nd Advanced Information Technology, Electronic and Automation Control Conference (IAEAC). |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|