Toward Modular Active-Cell Robots (MACROs): SMA Cell Design and Modeling of Compliant, Articulated Meshes
Toward Modular Active-Cell Robots (MACROs): SMA Cell Design and Modeling of Compliant, Articulated Meshes
复制标题
迈向模块化主动单元机器人 (MACRO)：SMA 单元设计和顺应性铰接网格建模
DOI：
10.1109/tro.2017.2693393
复制
发表时间：
2017
影响因子：
7.8
通讯作者：
A. Dollar
中科院分区：
文献类型：
--
作者：
Ahsan I. Nawroj;J. Swensen;A. Dollar
在本文中，我们提出了一个形状记忆合金（SMA）为基础的顺应性线性致动器[主动单元（AC）]的设计和使用这些在设计和建模铰接网格，形成了一类建议的模块化主动单元机器人（MACRO）的机械子系统。AC能够承受超过25%的应变，并且单元组通过被动顺应节点连接以产生铰接式网状网络。AC的柔性网格的变形是由SMA变形的物理和降阶模型的细胞推导出的尺度不变的参数方程建模。所实现的系统的参数被用来开发一个仿真平台，该平台预测的机械变形的网络机器人在网络的任意节点的电输入。我们提供了几个实验的结果，用于验证和建立这种变形模型的准确性。在小网格中预测变形的误差被证明是在10%以下的时变输入和稳态。
In this paper, we present the design of a shape-memory-alloy (SMA)-based compliant linear actuator [active cell (AC)] and the use of these in designing and modeling articulated meshes, which form the mechanical subsystem of a class of proposed modular active-cell robots (MACROs). The ACs are capable of undergoing ∼25% strain and groups of cells are connected via passively compliant nodes to produce articulated mesh networks. The deformation of compliant meshes of ACs is modeled by scale-invariant parametric equations derived from the physics of SMA deformations and a reduced-order model of the cells. Parameters of the implemented system were used to develop a simulation platform that predicts the mechanical deformation of the networked robot given electrical inputs at arbitrary nodes of the network. We provide results of several experimental trials used to validate and establish the accuracy of this deformation model. The error in predicting deformations in small meshes is shown to be under 10% over both time-varying inputs and at steady states.