Autonomous multifunctional vehicle with integrated bio-inspired SMA actuated grasper

Vasko Changoski; Simona Domazetovska; Maja Anachkova; Jovana Jovanova

doi:10.1115/SMASIS2020-2343

Autonomous multifunctional vehicle with integrated bio-inspired SMA actuated grasper

Vasko Changoski^*, Simona Domazetovska, Maja Anachkova, Jovana Jovanova

^*Corresponding author for this work

Transport Engineering and Logistics

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

2 Citations (Scopus)

29 Downloads (Pure)

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 language	English
Title of host publication	Proceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020
Publisher	American Society of Mechanical Engineers (ASME)
Number of pages	8
ISBN (Electronic)	978-0-7918-8402-7
DOIs	https://doi.org/10.1115/SMASIS2020-2343
Publication status	Published - 2020
Event	ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020 - Virtual/online event due to COVID-19 Duration: 15 Sept 2020 → 15 Sept 2020

Conference

Conference	ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020
Period	15/09/20 → 15/09/20

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

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

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10.1115/SMASIS2020-2343

SMASIS2020-17981 (1)Final published version, 967 KB

Cite this

Changoski, V., Domazetovska, S., Anachkova, M., & Jovanova, J. (2020). Autonomous multifunctional vehicle with integrated bio-inspired SMA actuated grasper. In Proceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020 Article V001T06A006 American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/SMASIS2020-2343

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title = "Autonomous multifunctional vehicle with integrated bio-inspired SMA actuated grasper",

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.",

keywords = "Bio-inspired vehicle, Grasper, Multi-locomotion, Origami engineering, Smart materials actuation",

author = "Vasko Changoski and Simona Domazetovska and Maja Anachkova and Jovana Jovanova",

note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.; ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020 ; Conference date: 15-09-2020 Through 15-09-2020",

year = "2020",

doi = "10.1115/SMASIS2020-2343",

language = "English",

booktitle = "Proceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020",

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Changoski, V, Domazetovska, S, Anachkova, M & Jovanova, J 2020, Autonomous multifunctional vehicle with integrated bio-inspired SMA actuated grasper. in Proceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020., V001T06A006, American Society of Mechanical Engineers (ASME), ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020, 15/09/20. https://doi.org/10.1115/SMASIS2020-2343

Autonomous multifunctional vehicle with integrated bio-inspired SMA actuated grasper. / Changoski, Vasko; Domazetovska, Simona; Anachkova, Maja et al.
Proceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020. American Society of Mechanical Engineers (ASME), 2020. V001T06A006.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Changoski, Vasko

AU - Domazetovska, Simona

AU - Anachkova, Maja

AU - Jovanova, Jovana

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2020

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N2 - 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.

AB - 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.

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M3 - Conference contribution

AN - SCOPUS:85096778303

BT - Proceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020

PB - American Society of Mechanical Engineers (ASME)

T2 - ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, SMASIS 2020

Y2 - 15 September 2020 through 15 September 2020

ER -

Autonomous multifunctional vehicle with integrated bio-inspired SMA actuated grasper

Abstract

Conference

Bibliographical note

Keywords

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