Soft robot with a novel variable friction design actuated by SMA and electromagnet

doi:10.1088/1361-665X/aae412

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 智能机器人系统研究

	Soft robot with a novel variable friction design actuated by SMA and electromagnet
	Li, Junfeng1 ; Chang, Wenkai2 ; Li, Qiyu 1
发表期刊	SMART MATERIALS AND STRUCTURES
ISSN	0964-1726
	2018-11-01
卷号	27 期号:11 页码:11
通讯作者	Li, Junfeng(jflichina@whut.edu.cn)
摘要	A novel variable friction mechanism is presented for a soft robot that can both move on a flat smooth surface and crawl on a steep smooth surface. First, the variable friction mechanism of the head and tail parts is presented, which can achieve three different frictions (low, medium and high) using SMA3 wire and an electromagnet. In addition, the lightweight and simple structures of both the body and steering parts are demonstrated. Second, according to the variable friction mechanism and the crawling locomotion sequence of the body, head and tail parts, the crawling performance is tested. When the head and tail parts switch between low and medium friction, the soft robot's maximum inclined surface angles for climbing up and down are 6 degrees and 12 degrees, respectively; the corresponding values are 12 degrees and 42 degrees, respectively, when the head and tail parts switch between high and medium friction. Finally, the steering ability of the soft robot is confirmed to be due to the tunable high friction. In conclusion, a novel three-state switch mechanism using a shape memory alloy and an electromagnet for variable friction is presented, which can help the soft robot achieve crawl and steer.
关键词	SMA soft robot electromagnet variable friction
DOI	10.1088/1361-665X/aae412
关键词[WOS]	STIFFNESS ; COMPLIANT ; MODEL
收录类别	SCI
语种	英语
资助项目	National Natural Science Foundation of China[51705382] ; National Natural Science Foundation of China[51705382]
项目资助者	National Natural Science Foundation of China
WOS研究方向	Instruments & Instrumentation ; Materials Science
WOS类目	Instruments & Instrumentation ; Materials Science, Multidisciplinary
WOS记录号	WOS:000456486500004
出版者	IOP PUBLISHING LTD
引用统计	被引频次：7[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/25350
专题	多模态人工智能系统全国重点实验室_智能机器人系统研究
通讯作者	Li, Junfeng
作者单位	1.Wuhan Univ Technol, Sch Mech & Elect Engn, 122 Luoshi Rd, Wuhan 430070, Hubei, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
推荐引用方式 GB/T 7714	Li, Junfeng,Chang, Wenkai,Li, Qiyu. Soft robot with a novel variable friction design actuated by SMA and electromagnet[J]. SMART MATERIALS AND STRUCTURES,2018,27(11):11.
APA	Li, Junfeng,Chang, Wenkai,&Li, Qiyu.(2018).Soft robot with a novel variable friction design actuated by SMA and electromagnet.SMART MATERIALS AND STRUCTURES,27(11),11.
MLA	Li, Junfeng,et al."Soft robot with a novel variable friction design actuated by SMA and electromagnet".SMART MATERIALS AND STRUCTURES 27.11(2018):11.