Springer Proceedings in Physics, pages 301-311
Design of Inchworm Imitating Soft Robot Driven by Shape Memory Alloy
Zhengcun Zhou
1
,
Xiaohong Huang
1
,
Zhike Deng
1
1
Guangdong University of Science and Technology, Dongguan, China
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Publication type: Book Chapter
Publication date: 2024-09-30
Journal:
Springer Proceedings in Physics
SJR: 0.135
CiteScore: 0.4
Impact factor: —
ISSN: 09308989, 18674941
Abstract
The NiTi shape memory alloy spring and spiral Fe–Cr–Al resistance wire are combined with silicone rubber to create an imitating inchworm torso. The round-trip memory alloy spring serves as the actuator for the imitating inchworm, the resistance wire serves as the heating element, and the insulated and thermally conductive silicone rubber serves as the torso matrix. The trunk is fixedly connected to the imitating inchworm foot, and the imitating inchworm foot is embedded with super-elastic bristles that are consistent with its forward direction. The calculations show that under the effect of phase change force, the bending driving force and driving stiffness of shape memory alloys are much greater than those of resistance wires and silicone rods. An 8 V DC voltage is used to power and heat the resistance wire, generating a power of approximately 40 W. Calculated based on a 60% thermal efficiency, when the imitating inchworm trunk is heated for 39 s, it reaches a phase change temperature of 52 °C, which drives the spring to initiate deformation, arches the trunk, and moves the hind foot forward one step. Simultaneously, when the heating is turned off, the temperature of the trunk decreases, and the imitating inchworm's trunk tends to straighten out. The imitating inchworm's front foot moves forward one step. When the temperature drops to 42 °C, restart the heating and repeat the above process.
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