2
|
Du Y, Wu X, Xue J, Chen X, Cao C, Gao X. A Soft Robot Driven by a Spring-Rolling Dielectric Elastomer Actuator with Two Bristles. MICROMACHINES 2023; 14:618. [PMID: 36985026 PMCID: PMC10051427 DOI: 10.3390/mi14030618] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 02/20/2023] [Revised: 03/05/2023] [Accepted: 03/06/2023] [Indexed: 06/18/2023]
Abstract
Confined space searches such as pipeline inspections are widely demanded in various scenarios, where lightweight soft robots with inherent compliance to adapt to unstructured environments exhibit good potential. We proposed a tubular soft robot with a simple structure of a spring-rolled dielectric elastomer (SRDE) and compliant passive bristles. Due to the compliance of the bristles, the proposed robots can work in pipelines with inner diameters both larger and smaller than the one of the bristles. Firstly, the nonlinear dynamic behaviors of the SRDE were investigated experimentally. Then, we fabricated the proposed robot with a bristle diameter of 19 mm and then studied its performance in pipelines on the ground with inner diameters of 18 mm and 20 mm. When the pipeline's inner diameter was less than the outer diameter of the bristles, the bristles remained in the state of bending and the robot locomotion is mainly due to anisotropic friction (1.88 and 0.88 body lengths per second horizontally and vertically, respectively, in inner diameter of 18 mm and 0.06 body length per second in that of 16 mm). In the case of the pipeline with the larger inner diameter, the bristles were not fully constrained, and a small bending moment applied on the lower bristle legs contributed to the robot's locomotion, leading to a high velocity (2.78 body lengths per second in 20 mm diameter acrylic pipe). In addition, the robot can work in varying geometries, such as curving pipes (curve radius ranges from 0.11 m to 0.31 m) at around two body lengths per second horizontally and on the ground at 3.52 body lengths per second, showing promise for pipeline or narrow space inspections.
Collapse
Affiliation(s)
- Yangyang Du
- School of Mechanical and Electrical Engineering, Xi’an University of Architecture and Technology, Xi’an 710049, China
- Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, China
| | - Xiaojun Wu
- School of Mechanical and Electrical Engineering, Xi’an University of Architecture and Technology, Xi’an 710049, China
| | - Jiasheng Xue
- Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, China
| | - Xingyu Chen
- Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, China
| | - Chongjing Cao
- Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, China
| | - Xing Gao
- Research Centre for Medical Robotics and Minimally Invasive Surgical Devices, Shenzhen Institutes of Advanced Technology (SIAT), Chinese Academy of Sciences, Shenzhen 518055, China
| |
Collapse
|
4
|
Kim D, Kim B, Shin B, Shin D, Lee CK, Chung JS, Seo J, Kim YT, Sung G, Seo W, Kim S, Hong S, Hwang S, Han S, Kang D, Lee HS, Koh JS. Actuating compact wearable augmented reality devices by multifunctional artificial muscle. Nat Commun 2022; 13:4155. [PMID: 35851053 PMCID: PMC9293895 DOI: 10.1038/s41467-022-31893-1] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/15/2021] [Accepted: 07/06/2022] [Indexed: 11/17/2022] Open
Abstract
An artificial muscle actuator resolves practical engineering problems in compact wearable devices, which are limited to conventional actuators such as electromagnetic actuators. Abstracting the fundamental advantages of an artificial muscle actuator provides a small-scale, high-power actuating system with a sensing capability for developing varifocal augmented reality glasses and naturally fit haptic gloves. Here, we design a shape memory alloy-based lightweight and high-power artificial muscle actuator, the so-called compliant amplified shape memory alloy actuator. Despite its light weight (0.22 g), the actuator has a high power density of 1.7 kW/kg, an actuation strain of 300% under 80 g of external payload. We show how the actuator enables image depth control and an immersive tactile response in the form of augmented reality glasses and two-way communication haptic gloves whose thin form factor and high power density can hardly be achieved by conventional actuators. Artificial muscle actuators enabled by responsive functional materials like shape memory alloys are promising candidates for compact e-wearable devices. Here, authors demonstrate augmented reality glasses and two-way communication haptic gloves capable of image depth control and immersive tactile response.
Collapse
Affiliation(s)
- Dongjin Kim
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16499, Republic of Korea
| | - Baekgyeom Kim
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16499, Republic of Korea
| | - Bongsu Shin
- Samsung Advanced Institute of Technology, Samsung Electronics, 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16678, Republic of Korea.,Samsung Electronics, 34, Seongchon-gil, Seocho-gu, Seoul, 06765, Republic of Korea
| | - Dongwook Shin
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16499, Republic of Korea
| | - Chang-Kun Lee
- Samsung Advanced Institute of Technology, Samsung Electronics, 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16678, Republic of Korea.,Samsung Electronics, 34, Seongchon-gil, Seocho-gu, Seoul, 06765, Republic of Korea
| | - Jae-Seung Chung
- Samsung Advanced Institute of Technology, Samsung Electronics, 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16678, Republic of Korea.,Samsung Electronics, 34, Seongchon-gil, Seocho-gu, Seoul, 06765, Republic of Korea
| | - Juwon Seo
- Samsung Advanced Institute of Technology, Samsung Electronics, 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16678, Republic of Korea.,Samsung Electronics, 34, Seongchon-gil, Seocho-gu, Seoul, 06765, Republic of Korea
| | - Yun-Tae Kim
- Samsung Advanced Institute of Technology, Samsung Electronics, 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16678, Republic of Korea.,Samsung Electronics, 34, Seongchon-gil, Seocho-gu, Seoul, 06765, Republic of Korea
| | - Geeyoung Sung
- Samsung Advanced Institute of Technology, Samsung Electronics, 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16678, Republic of Korea.,Samsung Electronics, 34, Seongchon-gil, Seocho-gu, Seoul, 06765, Republic of Korea
| | - Wontaek Seo
- Samsung Advanced Institute of Technology, Samsung Electronics, 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16678, Republic of Korea
| | - Sunil Kim
- Samsung Advanced Institute of Technology, Samsung Electronics, 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16678, Republic of Korea
| | - Sunghoon Hong
- Samsung Advanced Institute of Technology, Samsung Electronics, 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16678, Republic of Korea
| | - Sungwoo Hwang
- Samsung Advanced Institute of Technology, Samsung Electronics, 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16678, Republic of Korea.,Samsung SDS, 125, Olympic-ro, 35-gil, Songpa-gu, Seoul, 05510, Republic of Korea
| | - Seungyong Han
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16499, Republic of Korea.
| | - Daeshik Kang
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16499, Republic of Korea.
| | - Hong-Seok Lee
- Samsung Advanced Institute of Technology, Samsung Electronics, 130 Samsung-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16678, Republic of Korea. .,Department of Electrical and Computer Engineering, Seoul National University, 1, Gwanak-ro, Gwanak-gu, Seoul, 08826, Republic of Korea.
| | - Je-Sung Koh
- Department of Mechanical Engineering, Ajou University, 206 Worldcup-ro, Yeongtong-gu, Suwon-si, Gyeonggi-do, 16499, Republic of Korea.
| |
Collapse
|
6
|
Ruth DJS, Sohn JW, Dhanalakshmi K, Choi SB. Control Aspects of Shape Memory Alloys in Robotics Applications: A Review over the Last Decade. SENSORS 2022; 22:s22134860. [PMID: 35808360 PMCID: PMC9269604 DOI: 10.3390/s22134860] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/10/2022] [Revised: 06/10/2022] [Accepted: 06/15/2022] [Indexed: 02/04/2023]
Abstract
This paper mainly focuses on various types of robots driven or actuated by shape memory alloy (SMA) element in the last decade which has created the potential functionality of SMA in robotics technology, that is classified and discussed. The wide spectrum of increasing use of SMA in the development of robotic systems is due to the increase in the knowledge of handling its functional characteristics such as large actuating force, shape memory effect, and super-elasticity features. These inherent characteristics of SMA can make robotic systems small, flexible, and soft with multi-functions to exhibit different types of moving mechanisms. This article comprehensively investigates three subsections on soft and flexible robots, driving or activating mechanisms, and artificial muscles. Each section provides an insight into literature arranged in chronological order and each piece of literature will be presented with details on its configuration, control, and application.
Collapse
Affiliation(s)
| | - Jung-Woo Sohn
- Department of Mechanical Design Engineering, Kumoh National Institute of Technology, Daehak-Ro 61, Gumi-si 39177, Korea;
| | - Kaliaperumal Dhanalakshmi
- Department of Instrumentation and Control Engineering, National Institute of Technology Tiruchirappalli, Tiruchirappalli 620015, India;
| | - Seung-Bok Choi
- Department of Mechanical Engineering, The State University of New York, Korea (SUNY Korea), 119 Songdo Moonhwa-Ro, Yeonsu-Gu, Incheon 21985, Korea
- Department of Mechanical Engineering, Industrial University of Ho Chi Minh City (IUH), 12 Nguyen Van Bao Street, Go Vap District, Ho Chi Minh City 70000, Vietnam
- Correspondence:
| |
Collapse
|
7
|
Hu B, Liu F, Mao B, Chen Z, Yu H. Modeling and Position Control Simulation Research on Shape Memory Alloy Spring Actuator. MICROMACHINES 2022; 13:178. [PMID: 35208302 PMCID: PMC8877504 DOI: 10.3390/mi13020178] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/01/2022] [Revised: 01/21/2022] [Accepted: 01/22/2022] [Indexed: 01/27/2023]
Abstract
The shape memory alloy (SMA) actuator is widely used in aerospace, medical and robot fields because of its advantages of low driving voltage, large driving force, no noise and high-power-weight ratio. Therefore, it is of great significance to establish the theoretical model of the SMA actuator and analyze the driving characteristics of the SMA actuator. On the basis of summarizing the constitutive model of the shape memory alloy spring, the phase transformation dynamics model of SMA including the minor hysteresis loop is established using the Duhem model in this paper, and the theoretical models of the bias and differential SMA spring actuator are established. At the same time, a PID position controller including anti-saturation and anti-overheating functions is proposed to control the position of the SMA actuator. Finally, the position control simulation model of the SMA spring actuator is established and simulated. Simulation results show that the position of the SMA actuator can be well controlled by using the model and control method established in this paper.
Collapse
Affiliation(s)
- Bingshan Hu
- Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China; (F.L.); (B.M.); (Z.C.); (H.Y.)
- Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
| | - Fengchen Liu
- Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China; (F.L.); (B.M.); (Z.C.); (H.Y.)
| | - Binghao Mao
- Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China; (F.L.); (B.M.); (Z.C.); (H.Y.)
| | - Zhiwei Chen
- Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China; (F.L.); (B.M.); (Z.C.); (H.Y.)
| | - Hongliu Yu
- Institute of Rehabilitation Engineering and Technology, University of Shanghai for Science and Technology, Shanghai 200093, China; (F.L.); (B.M.); (Z.C.); (H.Y.)
- Shanghai Engineering Research Center of Assistive Devices, Shanghai 200093, China
| |
Collapse
|