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doi:10.22028/D291-41620
Titel: | Systematic Methodology for an Optimized Design of Shape Memory Alloy‐Driven Continuum Robots |
VerfasserIn: | Goergen, Yannik Rizzello, Gianluca Motzki, Paul |
Sprache: | Englisch |
Titel: | Advanced Engineering Materials |
Bandnummer: | 26 (2024) |
Heft: | 2 |
Verlag/Plattform: | Wiley |
Erscheinungsjahr: | 2023 |
Freie Schlagwörter: | constant curvature design methodology optimizations shape memory alloys smart continuum robots |
DDC-Sachgruppe: | 500 Naturwissenschaften |
Dokumenttyp: | Journalartikel / Zeitschriftenartikel |
Abstract: | Continuum robots stand out due to their high dexterity, which allows them to effectively navigate in confined spaces and dynamic environments. At present, motor-controlled tendons represent the most prominent actuation method used in continuum robots which require large drive units, increasing the overall system size and weight. A potential alternative technology to overcome those limitations is represented by shape memory alloy (SMA) wire actuators, which are characterized by extremely high energy density and flexibility, leading to a reduction of the size, weight, and design complexity of continuum robots. The complex thermomechanical behavior of SMA wires, however, makes the design of SMA-based applications a challenging task, and systematic approaches to design SMA-driven continuum robots are poorly understood. To overcome this issue, this article presents a novel systematic methodology for designing SMA-driven continuum robots capable of motion in a three-dimensional environment. First, the kinematic relationship between SMA wires and continuum robot deformation as well as the required actuator force in quasi-static conditions, is mathematically described based on the assumption of a constant curvature deformation. Subsequently, the model is validated by in-plane experiments for different design parameters. Based on the results, a fully integrated, antagonistic SMA continuum robot is built and validated. |
DOI der Erstveröffentlichung: | 10.1002/adem.202301502 |
URL der Erstveröffentlichung: | https://doi.org/10.1002/adem.202301502 |
Link zu diesem Datensatz: | urn:nbn:de:bsz:291--ds-416205 hdl:20.500.11880/37271 http://dx.doi.org/10.22028/D291-41620 |
ISSN: | 1527-2648 1438-1656 |
Datum des Eintrags: | 13-Feb-2024 |
Fakultät: | NT - Naturwissenschaftlich- Technische Fakultät |
Fachrichtung: | NT - Systems Engineering |
Professur: | NT - Prof. Dr. Paul Motzki NT - Prof. Dr. Stefan Seelecke |
Sammlung: | SciDok - Der Wissenschaftsserver der Universität des Saarlandes |
Dateien zu diesem Datensatz:
Datei | Beschreibung | Größe | Format | |
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Adv Eng Mater - 2023 - Goergen - Systematic Methodology for an Optimized Design of Shape Memory Alloy‐Driven Continuum.pdf | 5,04 MB | Adobe PDF | Öffnen/Anzeigen |
Diese Ressource wurde unter folgender Copyright-Bestimmung veröffentlicht: Lizenz von Creative Commons