Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Design and Fabrication of Soft Deformable Wheel Robot using Composite Materials and Shape Memory Alloy Coil Spring Actuators

복합 재료와 형상 기억 합금 코일 스프링 구동기를 이용한 유연하게 변형 가능한 바퀴 로봇의 설계 및 제작

  • Koh, Je-Sung (Department of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Lee, Dae-Young (Department of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Kim, Ji-Suk (Department of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Kim, Seung-Won (Department of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.) ;
  • Cho, Kyu-Jin (Department of Mechanical and Aerospace Engineering, Seoul Nat'l Univ.)
  • 고제성 (서울대학교 기계항공공학부) ;
  • 이대영 (서울대학교 기계항공공학부) ;
  • 김지석 (서울대학교 기계항공공학부) ;
  • 김승원 (서울대학교 기계항공공학부) ;
  • 조규진 (서울대학교 기계항공공학부)
  • Received : 2012.11.12
  • Accepted : 2012.11.20
  • Published : 2013.01.01
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Abstract

In order to operate a search and rescue robot in hazardous area, the robot requires high mobility and adaptable locomotion for moving in unpredictable environments. In this paper, we propose the deformable soft wheel robot that can produce three kinds of driving modes; caterpillar driving mode, normal wheel driving mode, legged-wheel driving mode. The robot changes its driving mode as it faces the various obstacles such as a small gap, stairs etc. Soft film and composite materials are used for fabrication of deformable wheel structure and Shape Memory Alloy (SMA) coil spring actuators are attached on the structure as an artificial muscle. Film lamination and an composite manufacturing process is introduced and the robot design is required to be modified and compromised to applying the manufacturing process. The prototype is developed and tested for verifying feasibility of the deformable wheel locomotion.

Keywords

References

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