Observatorio de I+D+i UPM

Memorias de investigación
Communications at congresses:
Biomimetic of morphing wings in a Bat-robot: SMA-based Artificial Muscles.
Year:2011
Research Areas
  • Electric engineers, electronic and automatic (eil)
Information
Abstract
This work is oriented towards the development of a biological inspired bat aerial robot with actuated morphing-wings (see Fig. 1). In order to reproduce the wing-morphing motion, this paper focuses on using NiTi Shape Memory Alloys (SMAs) as artificial muscles. Our goal is to control these muscles for achieving morphing-trajectories based on the biological study of bat flight [7]. As far as mechatronic design, much of the work is devoted to speed-up the operation frequency of the SMAbased muscles (~2.5-3Hz) for a feasible flapping-morphing synchronization during flight. Some of the challenges involved in this process are related to the modeling and mechatronics design of bat-wing motion merged with SMA actuation, and SMA hysteresis control that ensure the morphing frequency desired. To address these challenges, we propose an antagonistic pair of SMA arrays acting as the triceps and biceps muscles along the humerus bone. Likewise, the SMA morphing controller explores the concepts of anti-slack and pseudo-elasticity phenomena, providing feasible elbow and wrist motion
International
Si
Congress
International Workshop on bio-inspired robots
960
Place
NANTES Francia
Reviewers
Si
ISBN/ISSN
Start Date
06/04/2011
End Date
08/04/2011
From page
1
To page
3
International Workshop on Bio-Inspired Robots
Participants
  • Autor: Julian David Colorado Montaño (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
  • Autor: Claudio Rossi (UPM)
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Electrónica e Informática Industrial
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