DYNAMIC MODELING OF A NEW SNAKE ROBOT USING SMA ACTUATORS

摘要：

Shape Memory Alloy wires are currently employed in robotics, as actuators.In this paper a new mechanism is designed and modeled for a snake robot by using of Shape Memory Alloy actuators.The robot consists of three links which connected together with two revolute joints, two Shape Memory Alloy wires in order to adduction links of robot and two torsi onal springs to restore links of robot to their original positions. The robot model is simulated in MATLAB/Simulation.Finally, Dynamic behavior of robot is studied under different inputs.

关键词： Shape Memory Alloy Snake Robot Modeling Dynamic

作者: M.M.KHEIRIKHAH A.KHODAYARI S.RABIEE

作者单位: Faculty of Industrial and Mechanical Engineering,Islamic Azad University,Qazvin Branch,Iran Department Of Mechanical Engineering,Islamic Azad University,Pardis Branch,Tehran,Iran Islamic Azad University,Qazvin Branch,Iran

会议类型: 国际会议

会议名称: 3rd International Conference on Mechanical and Electrical Technology(ICMET2011) (2011第三届机械与电气技术国际会议)

会议地点: 大连

会议语种:英文

页码: 491-495

在线出版日期: 2011-08-26（万方平台首次上网日期，不代表论文的发表时间）