TROBS

A biological inspired robot

verfasst von: Jan Schmitt, Philipp Last, Christian Löchte, Annika Raatz, Jürgen Hesselbach
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.
Externe Organisation(en): Technische Universität Braunschweig
Typ: Aufsatz in Konferenzband
Seiten: 51-56
Anzahl der Seiten: 6
Publikationsdatum: 12.2009
Publikationsstatus: Veröffentlicht
Peer-reviewed: Ja
ASJC Scopus Sachgebiete: Maschinelles Sehen und Mustererkennung, Mensch-Maschine-Interaktion, Biomaterialien
Elektronische Version(en): https://doi.org/10.1109/ROBIO.2009.5420632 (Zugang: Unbekannt)

BibTeX

@inproceedings{c6902c9a28214439ad5430d2e55b7ddd,
title = "TROBS: A biological inspired robot",
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.",
author = "Jan Schmitt and Philipp Last and Christian L{\"o}chte and Annika Raatz and J{\"u}rgen Hesselbach",
year = "2009",
month = dec,
doi = "10.1109/ROBIO.2009.5420632",
language = "English",
isbn = "9781424447756",
series = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",
pages = "51--56",
booktitle = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",
note = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 ; Conference date: 19-12-2009 Through 23-12-2009",
}