{"title":"An Inchworm Robot with Self-Healing Ability Using SMA Actuators","authors":"Haruya Fukuchi, Hideyuki Sawada","doi":"10.20965/jrm.2023.p1615","DOIUrl":null,"url":null,"abstract":"In this paper, we propose an inchworm-type soft robot using a self-healing gel as its body and shape-memory alloy (SMA) wires as its actuators. To realize inchworm-like locomotion, two coiled SMA wires are placed in parallel in the gel-fabricated body. The bottom-side wire and the upper-side wire reciprocally bend by applying electric current to the actuators. To realize the self-restoration automatically, the robot consists of a self-healing body equipped with magnets. The paper introduces the structure of the inchworm-shaped robot with its inchworm-like locomotion performance, together with the self-healing function.","PeriodicalId":51661,"journal":{"name":"Journal of Robotics and Mechatronics","volume":"68 6","pages":""},"PeriodicalIF":0.9000,"publicationDate":"2023-12-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Robotics and Mechatronics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.20965/jrm.2023.p1615","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, we propose an inchworm-type soft robot using a self-healing gel as its body and shape-memory alloy (SMA) wires as its actuators. To realize inchworm-like locomotion, two coiled SMA wires are placed in parallel in the gel-fabricated body. The bottom-side wire and the upper-side wire reciprocally bend by applying electric current to the actuators. To realize the self-restoration automatically, the robot consists of a self-healing body equipped with magnets. The paper introduces the structure of the inchworm-shaped robot with its inchworm-like locomotion performance, together with the self-healing function.
在本文中，我们提出了一种以自愈合凝胶为主体、形状记忆合金（SMA）丝为执行器的尺蠖型软体机器人。为了实现类似尺蠖的运动，我们在凝胶制造的本体中平行放置了两根盘绕的 SMA 线。通过向致动器施加电流，下侧线和上侧线会相互弯曲。为了实现自动修复，机器人由装有磁铁的自修复体组成。本文介绍了具有类似尺蠖运动性能的尺蠖形机器人的结构以及自修复功能。
期刊介绍：
First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.
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