منابع مشابه
Biomechanics of morphing wings in a Bat-robot actuated by SMA muscles
Bats exhibit extraordinary flight capabilities that arise by virtue of a variety of unique mechanical features. These flying mammals have developed powerful muscles that provide the folding and extension of their wing-membrane during flight (morphing). Although observing and gaining inspiration from these animals can provide significant insight into the physical requirements of flapping flight,...
متن کاملImproving the Response of SMA Actuators
Shape memory alloy (SMA) based actuators have a number of attributes which make them useful for robotic applications. Unfortunately their response is relatively slow, being limited by the speed with which the SMA can be heated and cooled. This paper describes two novel developments of the basic SMA actuator which improve dynamic performance. To allow rapid heating of the shape memory alloy wire...
متن کاملWalking Pattern Filter for Dynamic Biped Robot with Sma Actuators
In this paper we present a walking pattern filter for Shape Memory Alloy (SMA) actuated biped robots. SMAs are known for their slow response. The actuation speed limitation can potentially lead to stability problems for biped robots. This filter adapts the human motion for a SMA biped in order to have a stable walking pattern. The Zero Moment Point (ZMP) is used as a main criterion of the filte...
متن کاملFolding in and out: passive morphing in flapping wings.
We present a new mechanism for passive wing morphing of flapping wings inspired by bat and bird wing morphology. The mechanism consists of an unactuated hand wing connected to the arm wing with a wrist joint. Flapping motion generates centrifugal accelerations in the hand wing, forcing it to unfold passively. Using a robotic model in hover, we made kinematic measurements of unfolding kinematics...
متن کاملControl Experiments on two SMA based micro-actuators
In this paper, two diierent control technics for SMA actuators are presented depending on the nature of the robotic application. The rst one based on a position feedback loop permits to control accurately the phalanx joint position for manipulation application. The second one is based on a temperature feedback loop to remotly steer an endoscope by a joystick. Their simplicity permits to integra...
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ژورنال
عنوان ژورنال: Physics Procedia
سال: 2010
ISSN: 1875-3892
DOI: 10.1016/j.phpro.2010.11.098