Jumping Tensegrity Robot Based on Torsionally Prestrained SMA Springs.
ACS Appl Mater Interfaces
; 11(43): 40793-40799, 2019 Oct 30.
Article
em En
| MEDLINE
| ID: mdl-31512858
ABSTRACT
This paper introduces the addition of torsional prestrain into the manufacturing process of shape memory alloy (SMA) springs to form torsionally prestrained SMA springs. These springs have a better performance at the same power input for the same loads and same coil dimensions as regular SMA springs. A modified thermoconstitutive model was presented that can predict the behavior of the actuator based on the amount of torsional prestrain added into the manufacturing process, and a simple two-state model is used to predict its actuation stroke. These improved actuators were used in the development of a tensegrity robots capable of fast rolling motions and jumping both vertically and horizontally. This robot is capable of rolling at 0.14 BL/s (body length per second) and can jump up to nearly a full body length.
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MEDLINE
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En
Ano de publicação:
2019
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Article