Name
Title | ||
|---|---|---|
Exploiting the Morphology of a Shape Memory Spring as the Active Backbone of a Highly Dexterous Tendril Robot (ATBR). |
Abstract | ||
|---|---|---|
Tendrils are common stable structures in nature and are used for sensing, actuation, and geometrical stiffness modulation. In this paper, for the first time we exploit the helical geometry of a shape memory alloy (SMA) tendril as a simple to fabricate highly dexterous robotic continuum tentacle that we called Active Tendril-Backbone Robot (ATBR). This is achieved via partial (120 deg) activation of single helix turns resulting in backbone directional bendings. A 141.5 mm prototype (130 mm when fully compressed) has been fabricated and a simple theoretical framework is proposed and experimentally validated for modeling of the tentacle configuration. The manipulator has five 2-DOF joints capable of reaching bending angles of up to 54.5 deg and angular speed of up to 6.8 deg/s. The dexterity of the manipulator is showcased empirically in reaching complex configurations and simple navigation through confined space of a curving path. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/IROS45743.2020.9341692 | IROS |
DocType | Citations | PageRank |
Conference | 0 | 0.34 |
References | Authors | |
0 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kayode Sonaike | 1 | 0 | 0.34 |
| S. M. Hadi Sadati | 2 | 2 | 2.40 |
| Christos Bergeles | 3 | 36 | 10.69 |
| Ian D. Walker | 4 | 24 | 5.40 |