Details
| Original language | English |
|---|---|
| Title of host publication | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 |
| Pages | 51-56 |
| Number of pages | 6 |
| Publication status | Published - Dec 2009 |
| Externally published | Yes |
| Event | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 19 Dec 2009 → 23 Dec 2009 |
Publication series
| Name | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 |
|---|
Abstract
This contribution presents a biological inspired robot, called Trunk Robot Braunschweig (TROBS). The structural shape of the robot is motivated by a trunk mechanism, where the robot is actuated by NiTi shape memory alloy (SMA) wires, placed according to the agonist-antagonist principle of muscles. The robot has a modular structure, the single segments are connected by compliant joints, whose arrangement permit a variable degree of freedom (DoF) depending on the number of segments. The joints have a similar working principle as revolute joints. In order to show the functionality of the robot, the mechanical structure, the benefits of compliant joints as well as a method of kinematic modelling are presented. Another focus is placed on the actuation principle. The robot is actuated by SMA wires formed like springs, which provide advantages in design as well as in control aspects. Due to the high modularity of the mechanism, the robot is arbitrarily extendable and so adoptable for several applications.
ASJC Scopus subject areas
- Computer Science(all)
- Computer Vision and Pattern Recognition
- Computer Science(all)
- Human-Computer Interaction
- Materials Science(all)
- Biomaterials
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2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. 2009. p. 51-56 5420632 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - TROBS
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
AU - Schmitt, Jan
AU - Last, Philipp
AU - Löchte, Christian
AU - Raatz, Annika
AU - Hesselbach, Jürgen
PY - 2009/12
Y1 - 2009/12
N2 - This contribution presents a biological inspired robot, called Trunk Robot Braunschweig (TROBS). The structural shape of the robot is motivated by a trunk mechanism, where the robot is actuated by NiTi shape memory alloy (SMA) wires, placed according to the agonist-antagonist principle of muscles. The robot has a modular structure, the single segments are connected by compliant joints, whose arrangement permit a variable degree of freedom (DoF) depending on the number of segments. The joints have a similar working principle as revolute joints. In order to show the functionality of the robot, the mechanical structure, the benefits of compliant joints as well as a method of kinematic modelling are presented. Another focus is placed on the actuation principle. The robot is actuated by SMA wires formed like springs, which provide advantages in design as well as in control aspects. Due to the high modularity of the mechanism, the robot is arbitrarily extendable and so adoptable for several applications.
AB - This contribution presents a biological inspired robot, called Trunk Robot Braunschweig (TROBS). The structural shape of the robot is motivated by a trunk mechanism, where the robot is actuated by NiTi shape memory alloy (SMA) wires, placed according to the agonist-antagonist principle of muscles. The robot has a modular structure, the single segments are connected by compliant joints, whose arrangement permit a variable degree of freedom (DoF) depending on the number of segments. The joints have a similar working principle as revolute joints. In order to show the functionality of the robot, the mechanical structure, the benefits of compliant joints as well as a method of kinematic modelling are presented. Another focus is placed on the actuation principle. The robot is actuated by SMA wires formed like springs, which provide advantages in design as well as in control aspects. Due to the high modularity of the mechanism, the robot is arbitrarily extendable and so adoptable for several applications.
UR - http://www.scopus.com/inward/record.url?scp=77951450961&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2009.5420632
DO - 10.1109/ROBIO.2009.5420632
M3 - Conference contribution
AN - SCOPUS:77951450961
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 51
EP - 56
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -