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Proceedings Paper

The application of SMA spring actuators to a lightweight modular compliant surface bioinspired robot
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Paper Abstract

The DARPA Sponsored Compliant Surface Robotics (CSR) program pursues development of a high mobility, lightweight, modular, morph-able robot for military forces in the field and for other industrial uses. The USTLAB and University of Washington Center for Intelligent Materials and Systems (CIMS) effort builds on USTLAB proof of concept feasibility studies and demonstration of a 4, 6, or 8 wheeled modular vehicle with articulated leg-wheel assemblies. A collaborative effort between USTLAB and UW-CIMS explored the application of Shape Memory Alloy Nickel Titanium Alloy springs to a leg extension actuator capable of actuating with 4.5 Newton force over a 50 mm stroke. At the completion of Phase II, we have completed mechanical and electronics engineering design and achieved conventional actuation which currently enable active articulation, enabling autonomous reconfiguration for a wide variety of terrains, including upside down operations (in case of flip over), have developed a leg extension actuator demonstration model, and we have positioned our team to pursue a small vehicle with leg extension actuators in follow on work. The CSR vehicle's modular spider-like configuration facilitates adaptation to many uses and compliance over rugged terrain. The developmental process, actuator and vehicle characteristics will be discussed.

Paper Details

Date Published: 29 July 2004
PDF: 10 pages
Proc. SPIE 5388, Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies, (29 July 2004); doi: 10.1117/12.547773
Show Author Affiliations
David L. Stone, Unmanned Systems Technology Lab., Inc. (United States)
John Cranney, Unmanned Systems Technology Lab., Inc. (United States)
Robert Liang, Univ. of Washington (United States)
Minoru Taya, Univ. of Washington (United States)

Published in SPIE Proceedings Vol. 5388:
Smart Structures and Materials 2004: Industrial and Commercial Applications of Smart Structures Technologies
Eric H. Anderson, Editor(s)

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