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A peculiar flip-flop actuator for an in-pipe microrobot

Published online by Cambridge University Press:  19 August 2004

C. Libersa ,
M. Arsicault ,
J. P. Gazeau  and
J. P. Lallemand
C. Libersa
Affiliation:
Laboratoire de Mécanique des Solides, UMR CNRS 6610, Université de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France).
M. Arsicault
Affiliation:
Laboratoire de Mécanique des Solides, UMR CNRS 6610, Université de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France).
J. P. Gazeau
Affiliation:
Laboratoire de Mécanique des Solides, UMR CNRS 6610, Université de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France).
J. P. Lallemand
Affiliation:
Laboratoire de Mécanique des Solides, UMR CNRS 6610, Université de Poitiers, SP2MI, Boulevard M. & P. Curie, B.P. 30179, 86962 Futuroscope-Chasseneuil Cedex (France).
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Abstract

The work presented here concerns the design and manufacturing possibility of a polymodular autonomous microrobot moving like an earthworm. The study consists of the development of a new locomotion actuator based on shape memory alloys. This actuator is formed by a flexible frame forced in post-buckling by its assembly on a rigid skeleton cage. This mechanical structure, forming a knot in the microrobot chain, uses its two post-buckling equilibrium positions to achieve first the support and second the local lengthening enabling the movement of the microrobot. Initially, we present the technical solution designed for the locomotion actuator and the mechanical characterization of its malleable structure. Then, we present the instrumentation by educated SMA of a malleable structure and the capability of microrobot locomotion task in a vertical tube.

Keywords

MicrorobotShape memory alloyTwo-way SMELocomotionPost-bucklingFlip-flopPipe
Type
Research Article
Information
Robotica , Volume 22 , Issue 5 , October 2004 , pp. 547 - 561
Copyright
© 2004 Cambridge University Press

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