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Descripción
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| 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 | |
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Internacional
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Si |
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Nombre congreso
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International Workshop on bio-inspired robots |
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Tipo de participación
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960 |
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Lugar del congreso
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NANTES Francia |
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Revisores
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ISBN o ISSN
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DOI
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Fecha inicio congreso
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06/04/2011 |
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Fecha fin congreso
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08/04/2011 |
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Desde la página
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1 |
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Hasta la página
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3 |
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Título de las actas
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International Workshop on Bio-Inspired Robots |