Design and Kinematic Analysis of an Elephant-Trunk-Like Robot with Shape Memory Alloy Actuators

被引：0
|
作者：
Luo, Ruidong [1 ]
Wang, Tianmiao [1 ]
Shi, Zhenyun [1 ]
Tian, Jiawen [1 ]
机构：
[1] Beihang Univ, Sch Mech Engn & Automat, Beijing, Peoples R China
来源：
2017 IEEE 2ND ADVANCED INFORMATION TECHNOLOGY, ELECTRONIC AND AUTOMATION CONTROL CONFERENCE (IAEAC) | 2017年
基金：
中国国家自然科学基金;
关键词：
elephant-trunk-like robot; shape memory alloy (SMA) actuators; kinematic analysis; joint module; MANIPULATOR;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：157 / 161
页数：5
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