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Design and analysis of a soft mobile robot composed of multiple thermally activated joints driven by a single actuator

Author(s)
Chen, Hao; Hansen, Malik; Playter, Robert; Cheng, Nadia Gen San; Ishigami, Genya; Hawthorne, Stephan A.; Telleria, Maria J.; Iagnemma, Karl; ... Show more Show less
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Abstract
Soft robotic systems have applications in industrial, medical, and security applications. Many applications require these robots to be small and lightweight. One challenge in developing a soft robotic system is to drive multiple degrees-of-freedom (DOF) with few actuators, thereby reducing system size and weight. This paper presents the analysis and design of an inchworm-like mobile robot that consists of multiple, independent thermally activated joints but is driven by a single actuator. To realize control of this under-actuated system, a solder-based locking mechanism has been developed to selectively activate individual joints without requiring additional actuators. The design and performance analysis of a prototype mobile robot that is capable of inchworm-like translational and steering motion is described. The design of novel “feet” with anisotropic friction properties is also described.
Date issued
2010-05
URI
http://hdl.handle.net/1721.1/69932
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering; Massachusetts Institute of Technology. Laboratory for Manufacturing and Productivity
Journal
IEEE International Conference on Robotics and Automation. Proceedings
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Cheng, Nadia et al. “Design and Analysis of a Soft Mobile Robot Composed of Multiple Thermally Activated Joints Driven by a Single Actuator.” IEEE, 2010. 5207–5212. Web. 4 Apr. 2012. © 2010 Institute of Electrical and Electronics Engineers
Version: Final published version
Other identifiers
INSPEC Accession Number: 11431121
ISBN
978-1-4244-5040-4
978-1-4244-5038-1
ISSN
1050-4729

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