WO2010126223A3 - 자벌레 로봇 - Google Patents

자벌레 로봇 Download PDF

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Publication number
WO2010126223A3
WO2010126223A3 PCT/KR2010/000825 KR2010000825W WO2010126223A3 WO 2010126223 A3 WO2010126223 A3 WO 2010126223A3 KR 2010000825 W KR2010000825 W KR 2010000825W WO 2010126223 A3 WO2010126223 A3 WO 2010126223A3
Authority
WO
WIPO (PCT)
Prior art keywords
legs
sma
friction
sma wire
composite
Prior art date
Application number
PCT/KR2010/000825
Other languages
English (en)
French (fr)
Other versions
WO2010126223A2 (ko
Inventor
안성훈
추원식
김민생
이길용
김윤미
이재훈
Original Assignee
서울대학교산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 서울대학교산학협력단 filed Critical 서울대학교산학협력단
Publication of WO2010126223A2 publication Critical patent/WO2010126223A2/ko
Publication of WO2010126223A3 publication Critical patent/WO2010126223A3/ko

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1085—Programme-controlled manipulators characterised by positioning means for manipulator elements positioning by means of shape-memory materials
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
    • F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
    • F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
    • F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
    • F03G7/061—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element
    • F03G7/0614—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like characterised by the actuating element using shape memory elements
    • F03G7/06143—Wires
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)
  • Toys (AREA)

Abstract

본 발명은 형상기억합금(SMA) 와이어의 수축 및 복원에 따라 곡률반경이 변하는 몸체부와, 상기 몸체부의 양단에 형성되고 바닥면은 적어도 두 부분에서 마찰계수가 서로 다르게 형성되어 상기 몸체부의 곡률반경의 변화에 따라 한 방향으로 전진 이동하는 다리부를 포함하는 자벌레 로봇(inchworm robot)에 관한 것이다. 또한, 상기 몸체부는, 온도에 따라 수축, 복원되는 형상기억합금(SMA) 와이어 및 상기 형상기억합금(SMA) 와이어가 내부에 위치하는 복합재가 체결수단에 의해 상호 결합하여 이루어지고, 상기 다리부는 마찰계수가 큰 재질로 형성되며 전면에는 이동시 지면과의 마찰력을 감소시켜 부드럽게 이동할 수 있도록 구리필름이 형성된다.
PCT/KR2010/000825 2009-04-30 2010-02-10 자벌레 로봇 WO2010126223A2 (ko)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2009-0037908 2009-04-30
KR1020090037908A KR101106849B1 (ko) 2009-04-30 2009-04-30 자벌레 로봇

Publications (2)

Publication Number Publication Date
WO2010126223A2 WO2010126223A2 (ko) 2010-11-04
WO2010126223A3 true WO2010126223A3 (ko) 2010-12-23

Family

ID=43032641

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2010/000825 WO2010126223A2 (ko) 2009-04-30 2010-02-10 자벌레 로봇

Country Status (2)

Country Link
KR (1) KR101106849B1 (ko)
WO (1) WO2010126223A2 (ko)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102179813B (zh) * 2011-04-21 2012-07-11 哈尔滨工程大学 柔性尺蠖机器人
KR101488247B1 (ko) * 2013-07-30 2015-02-02 연세대학교 산학협력단 자벌레 이동 메커니즘을 이용한 이동로봇
KR101483560B1 (ko) * 2013-09-13 2015-01-16 국방과학연구소 이동체
WO2018130295A1 (en) 2017-01-13 2018-07-19 MAX-PLANCK-Gesellschaft zur Förderung der Wissenschaften e.V. Method of actuating a shape changeable member, shape changeable member and actuating system
CN107696022B (zh) * 2017-09-06 2021-01-08 上海交通大学 多向蠕动软体机器人
CN109109997B (zh) * 2018-08-30 2020-10-27 常州大学 一种三自由度仿生跳跃机械腿
CN109649521B (zh) * 2019-01-29 2021-06-22 江苏大学 一种磁控单向蠕动式软体机器人
CN112247975B (zh) * 2020-10-30 2022-03-29 华中科技大学 一种基于4d打印的轮形移动机器人
CN113894819B (zh) * 2021-11-16 2023-04-21 燕山大学 一种磁控仿尺蠖双向运动软体机器人
CN114426068B (zh) * 2021-11-29 2023-06-20 江苏集萃微纳自动化系统与装备技术研究所有限公司 基于形状记忆聚合物驱动的纸基爬壁机器人及其制作方法
CN114102555B (zh) * 2021-11-30 2024-06-11 中国运载火箭技术研究院 一种基于复合薄膜应激变形的仿生微型机器人
CN114735103A (zh) * 2022-03-10 2022-07-12 江苏大学 一种基于电化学人工肌肉的仿弓箭全向无束缚软体机器人

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100486702B1 (ko) * 2000-07-25 2005-05-03 삼성전자주식회사 마이크로 로봇
KR20050104023A (ko) * 2004-04-27 2005-11-02 한국과학기술연구원 선형 액츄에이터 이용한 마이크로로봇

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100486702B1 (ko) * 2000-07-25 2005-05-03 삼성전자주식회사 마이크로 로봇
KR20050104023A (ko) * 2004-04-27 2005-11-02 한국과학기술연구원 선형 액츄에이터 이용한 마이크로로봇

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
INCHWORM ROBOT WITH MUSCLE-WIRE, 23 August 2007 (2007-08-23), Retrieved from the Internet <URL:http://www.youtube.com/watch?v=k9f-6X6Xi_Wo> [retrieved on 20100916] *
KIM B. ET AL: "An earthworm-like locomotive mechanism for capsule endoscopes", 2005 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2 August 2005 (2005-08-02) - 6 August 2005 (2005-08-06), pages 2997 - 3002 *
KOTAY K. ET AL: "The Inchworm Robot: A Multi-Functional System", AUTONOMOUS ROBOTS, vol. 8, 2000, pages 53 - 69 *

Also Published As

Publication number Publication date
WO2010126223A2 (ko) 2010-11-04
KR101106849B1 (ko) 2012-01-19
KR20100119012A (ko) 2010-11-09

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