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

页码：157 / 161

页数：5

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