Development and Modeling of a Miniature Jumping Robot Based on NiTi Wires

被引:0
|
作者
Pawlowski, Benjamin
Zhao, Jianguo
机构
来源
2017 IEEE 7TH ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER) | 2017年
基金
美国国家科学基金会;
关键词
D O I
暂无
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, we present the design, modeling, and experimentation of a miniature jumping robot that utilizes Nitinol (NiTi) wires to store potential energy for the jump. NiTi wires were selected as a superior option to other energy storage medium (e.g., springs, carbon fiber) as they provide large deformations without breaking. Utilizing this option allows for the ultimate goal of designing a hybrid wheeling and jumping robot to be reached. The modeling of NiTi wires to predict the jumping performance is not trivial, owing to NiTi's nonlinear properties. Therefore, we develop mathematical models by considering the nonlinearity as well as asymmetric loading responses to capture the force, geometry, and energy during the energy-charge process. With the designed robot, the predicted jumping performance is close to the experimental results, verifying the proposed modeling methods. The robot has a wide range of applications from search and rescue, environment monitoring, to surveillance. Moreover, other systems that leverage the NiTi's super elasticity to store energy can use the developed mathematical model for NiTi wires.
引用
收藏
页码:460 / 465
页数:6
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