Autonomous multifunctional vehicle with integrated bio-inspired SMA actuated grasper

Conference paper (2020)

Authors

Vasko Changoski SS Cyril and Methodius University

Simona Domazetovska SS Cyril and Methodius University

Maja Anachkova SS Cyril and Methodius University

J. Jovanova Transport Engineering and Logistics - Mechanical, Maritime and Materials Engineering

Research Group

Transport Engineering and Logistics (Mechanical, Maritime and Materials Engineering) (TU Delft)

DOI: https://doi.org/10.1115/SMASIS2020-2343

Grasper Bio-inspired vehicle Multi-locomotion Origami engineering Smart materials actuation

To reference this document use:

http://resolver.tudelft.nl/uuid:6dae743a-7b3c-42a0-9ec8-9fddc8b7d250

More Info

expand_more

Published Date

2020

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Marine and Transport Technology

Research Group

Transport Engineering and Logistics

Abstract

The space exploration activities are merging new technologies in order to develop systems challenged to achieve capabilities for high mission experience. Inspired by the numerous applications in space exploration, with the integration of shape memory alloys (SMAs), a 3D printed continuous All Terrain Grasper Transport (AT-GT) vehicle with implemented multi-locomotion grasper was created. In order to reduce failure of the mechanical system, the vehicle is equipped with SMA suspension and SMA tensioner of a pulley system with adaptable height able to achieve movement on a given trajectory and adjust to any terrain. SMA actuators provide controllable actuation based on the simplicity of their design and the shape memory effect. By using the advantages of the origami engineering, soft robotics and smart material implementation, a bio-inspired autonomous grasper was integrated on the AT-GT, capable of leaving the vehicle, grabbing an object and bringing it back to the vehicle. The concept development, the analytical models and the prototype including the benefits of the combined work of the vehicle and the grasper are presented.

Files

SMASIS2020_17981_1_.pdf

(pdf | 1.08 Mb)

- Embargo expired in 04-05-2021