Autonomous multifunctional vehicle with integrated bio-inspired SMA actuated grasper

Vasko Changoski, Simona Domazetovska, Maja Anachkova, Jovana Jovanova

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

The space exploration activities are merging new technologies in order to develop systems challenged to achieve capabilities for high mission experience. Inspired by the numerous applications in space exploration, with the integration of shape memory alloys (SMAs), a 3D printed continuous All Terrain Grasper Transport (AT-GT) vehicle with implemented multi-locomotion grasper was created. In order to reduce failure of the mechanical system, the vehicle is equipped with SMA suspension and SMA tensioner of a pulley system with adaptable height able to achieve movement on a given trajectory and adjust to any terrain. SMA actuators provide controllable actuation based on the simplicity of their design and the shape memory effect. By using the advantages of the origami engineering, soft robotics and smart material implementation, a bio-inspired autonomous grasper was integrated on the AT-GT, capable of leaving the vehicle, grabbing an object and bringing it back to the vehicle. The concept development, the analytical models and the prototype including the benefits of the combined work of the vehicle and the grasper are presented.

Original languageEnglish
Title of host publicationProceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020
PublisherASME
Number of pages8
ISBN (Electronic)978-0-7918-8402-7
DOIs
Publication statusPublished - 2020
EventASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020 - Virtual/online event due to COVID-19
Duration: 15 Sep 202015 Sep 2020

Conference

ConferenceASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020
Period15/09/2015/09/20

Keywords

  • Bio-inspired vehicle
  • Grasper
  • Multi-locomotion
  • Origami engineering
  • Smart materials actuation

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