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Research Papers

Multiple Inputs-Single Accumulated Output Mechanism for Soft Linear Actuators

[+] Author and Article Information
Kyeong Ho Cho

Robotics Innova-tory Laboratory,
School of Mechanical Engineering,
Sungkyunkwan University,
Suwon KS002, Gyeonggi-do, South Korea
e-mail: woozoo@hanmail.net

Ho Moon Kim

Robotics Innova-tory Laboratory,
School of Mechanical Engineering,
Sungkyunkwan University,
Suwon KS002, Gyeonggi-do, South Korea
e-mail: khm0213@me.skku.ac.kr

Youngeun Kim

Robotics Innova-tory Laboratory,
School of Mechanical Engineering,
Sungkyunkwan University,
Suwon KS002, Gyeonggi-do, South Korea
e-mail: civelin@skku.edu

Sang Yul Yang

Robotics Innova-tory Laboratory,
School of Mechanical Engineering,
Sungkyunkwan University,
Suwon KS002, Gyeonggi-do, South Korea
e-mail: didtkddbf@skku.edu

Hyouk Ryeol Choi

Professor
Robotics Innova-tory Laboratory,
School of Mechanical Engineering,
Sungkyunkwan University,
Suwon KS002, Gyeonggi-do, South Korea
e-mail: hrchoi@me.skku.ac.kr

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received January 10, 2018; final manuscript received September 28, 2018; published online November 13, 2018. Assoc. Editor: Robert J. Wood.

J. Mechanisms Robotics 11(1), 011007 (Nov 13, 2018) (8 pages) Paper No: JMR-18-1008; doi: 10.1115/1.4041632 History: Received January 10, 2018; Revised September 28, 2018

Soft linear actuators (SLAs) such as shape memory alloy (SMA) wires, pneumatic soft actuators, dielectric elastomer actuator, and twisted and coiled soft actuator (TCA) called artificial muscle actuators in general, have many advantages over the conventional actuators. SLAs can realize innovative robotic technologies like soft robots, wearable robots, and bionic arms in the future, but further development is still needed in real applications because most SLAs do not provide large displacement or force as needed. This paper presents a novel mechanism supplementing SLAs by accumulating the displacement of multiple SLAs. It adopts the principle of differential gears in reverse. Since the input units of the mechanism are extensible, more displacement can be accumulated by increasing the number of the input units as many as needed. The mechanism is basically used to accumulate displacements, but can be used to accumulate forces by changing its operating mode. This paper introduces the design and working principle of the mechanism and validates its operation experimentally. In addition, the mechanism is implemented on a robotic arm and its effectiveness is confirmed.

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References

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Figures

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Fig. 1

Mechanisms that generate the single accumulated output from the multiple inputs: (a) Planar type mechanism: MIGA motor [15] and (b) circular type mechanisms: MISAOM

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Fig. 2

Three-dimensional model images of the general form MISAOM driven by (a) DC motors and (b) SMA wires

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Fig. 3

Multiple inputs-single accumulated output mechanism: (a) basic concept, (b) general form, (c) extended form of MISAOM, and (d) locking of MISAOM

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Fig. 4

Schematic diagrams: (a) general form MISAOM, (b) displacement accumulation, and (c) accumulation of torque or force

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Fig. 5

Torque analysis of the MISAOM

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Fig. 6

Measurement of the rotational displacement and speed: (a) rotational displacement accumulation, (b) rotational speed accumulation, and (c) output unit response according to rotational directions of three input units

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Fig. 7

Force measurement: (a) three SMA wires with the input units and a weight with the output unit and (b) force accumulation

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Fig. 8

Robotic arm based on MISAOM: (a) 3D model of the robotic arm, (b) fabricated robotic arm, and (c) joint angle values of the robotic arm

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