The application of SMA spring actuators to a lightweight modular compliant surface bioinspired robot

David L. Stone; John Cranney; Robert Liang; Minoru Taya

doi:10.1117/12.547773

29 July 2004 The application of SMA spring actuators to a lightweight modular compliant surface bioinspired robot

David L. Stone, John Cranney, Robert Liang, Minoru Taya

Proceedings Volume 5388, Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies; (2004) https://doi.org/10.1117/12.547773
Event: Smart Structures and Materials, 2004, San Diego, CA, United States

Abstract

The DARPA Sponsored Compliant Surface Robotics (CSR) program pursues development of a high mobility, lightweight, modular, morph-able robot for military forces in the field and for other industrial uses. The USTLAB and University of Washington Center for Intelligent Materials and Systems (CIMS) effort builds on USTLAB proof of concept feasibility studies and demonstration of a 4, 6, or 8 wheeled modular vehicle with articulated leg-wheel assemblies. A collaborative effort between USTLAB and UW-CIMS explored the application of Shape Memory Alloy Nickel Titanium Alloy springs to a leg extension actuator capable of actuating with 4.5 Newton force over a 50 mm stroke. At the completion of Phase II, we have completed mechanical and electronics engineering design and achieved conventional actuation which currently enable active articulation, enabling autonomous reconfiguration for a wide variety of terrains, including upside down operations (in case of flip over), have developed a leg extension actuator demonstration model, and we have positioned our team to pursue a small vehicle with leg extension actuators in follow on work. The CSR vehicle's modular spider-like configuration facilitates adaptation to many uses and compliance over rugged terrain. The developmental process, actuator and vehicle characteristics will be discussed.

Citation Download Citation

David L. Stone, John Cranney, Robert Liang, and Minoru Taya "The application of SMA spring actuators to a lightweight modular compliant surface bioinspired robot", Proc. SPIE 5388, Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, (29 July 2004); https://doi.org/10.1117/12.547773

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
10 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Actuators

Shape memory alloys

Servomechanisms

Amplifiers

Robotics

Electronics

Intelligence systems

Show All Keywords

Keywords/Phrases

Search In:

Publication Years