Design of high D.O.F. mobile micro robot using electrical resistance control of shape memory alloy
Design of high D.O.F. mobile micro robot using electrical resistance control of shape memory alloy
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DOI：
10.1109/iros.2007.4399561
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发表时间：
2007-12
期刊：
影响因子：
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通讯作者：
Junichi Urata;T. Yoshikai;I. Mizuuchi;M. Inaba
中科院分区：
文献类型：
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作者：
Junichi Urata;T. Yoshikai;I. Mizuuchi;M. Inaba
形状记忆合金（SMA）因其尺寸和重量而成为适合微型移动机器人的执行器。然而，已知 SMA 执行器的长度是非线性和迟滞的。我们可以像控制 SMA 的电阻一样控制其形状。本文提出了一个利用 SMA 执行器肌腱构建高自由度机器人的平台。我们将线圈形状 SMA 用作肌腱驱动机器人的可变长度肌腱。通过控制SMA腱的电阻，我们可以用基于模型的方法控制机器人结构的姿态。提出了一种利用SMA模型和机器人求解高自由度机器人给定姿态控制电阻的方法。用于高自由度的小型电气系统机器人也被开发出来。作为我们系统的应用，我们展示了一个具有 16 个自由度的四足机器人。关节和 24 条 SMA 肌腱。
Shape-memory alloy(SMA) is a suitable actuator for a micro mobile robot due to its size and weight. However, length of SMA actuators is known to be nonlinear and hysteretic. We can control SMA's shape analogously to its electrical resistance. This paper presents a platform to construct high degree of freedom robots with tendons of SMA actuators. We incorporate coil shape SMA as variable length tendons of tendon-driven robots. By controlling electrical resistance of SMA tendons, we can control posture of the robot structure in model-based method. A method to resolve electrical resistance for control from given posture of a high degree of freedom robot by using model of SMA and the robot is proposed. A small electrical system for high D.O.F. robots is also developed. As an application of our system, we show a four-legged robot with 16 D.O.F. joints and 24 SMA tendons.