Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Soft Morphing Motion of Flytrap Robot Using Bending Propagating Actuation

밴딩 전파 구동을 이용한 파리지옥 로봇의 소프트 모핑 동작

  • 김승원 (서울대학교 기계항공공학부 바이오로보틱스연구실/서울대학교 정밀기계설계공동연구소(IAMD)) ;
  • 고제성 (서울대학교 기계항공공학부 바이오로보틱스연구실/서울대학교 정밀기계설계공동연구소(IAMD)) ;
  • 조맹효 (서울대학교 기계항공공학부 지능구조설계 연구실/서울대학교 정밀기계설계공동연구소(IAMD)) ;
  • 조규진 (서울대학교 기계항공공학부 바이오로보틱스연구실/서울대학교 정밀기계설계공동연구소(IAMD))
  • Received : 2011.11.15
  • Accepted : 2011.12.20
  • Published : 2012.03.01
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Abstract

This paper presents a bending propagating actuation using SMA (Shape Memory Alloy) spring for an effective shape transition of a flytrap-inspired soft morphing structure. The flytrap-inspired soft morphing structure is made from unsymmetric CFRP (Carbon Fiber Reinforced Prepreg) structure which shows bi-stability and snap-through phenomenon. For a thin and large curved bistable CFRP structure, SMA spring is more acceptable than SMA wire and piezoelectric actuator which used in previous investigations. A bending propagating actuation is proposed which can induce snap-through of the bi-stable CFRP structure effectively. From this research, effective shape transition of soft morphing structure is possible.

Keywords

References

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