دورية أكاديمية
Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing
| العنوان: | Tasering Twin Soft Robot: A Multimodal Soft Robot Capable of Passive Flight and Wall Climbing |
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| المؤلفون: | Natthapol Sriratanasak, Dragos Axinte, Xin Dong, Abdelkhalick Mohammad, Matteo Russo, Luca Raimondi |
| المصدر: | Advanced Intelligent Systems, Vol 4, Iss 12, Pp n/a-n/a (2022) |
| بيانات النشر: | Wiley, 2022. |
| سنة النشر: | 2022 |
| المجموعة: | LCC:Computer engineering. Computer hardware |
| مصطلحات موضوعية: | dielectric elastomer actuators, electroadhesion, passive flight, reconfiguration, wall climbing, Computer engineering. Computer hardware, TK7885-7895, Control engineering systems. Automatic machinery (General), TJ212-225 |
| الوصف: | The application of Soft Crawling Robots (SCRs) to real‐world scenarios remains a grand challenge due to their limited deployment time to reach the target and accessibility to difficult‐to‐reach environments by any obstacles. To overcome these limitations, a novel multimodal Tasering Twin Soft Robot (TTSR), carrying two SCRs, capable of 1) passive flight and 2) wall climbing to a desired location by deploying SCRs once reached the target is proposed. For satisfying both tasks, reconfigurable design of SCRs using a novel bistable mechanism and detaching mechanism based on a shape‐memory alloy for deploying SCRs is proposed. Each SCR is driven by two dielectric elastomer actuators (DEA) and three electroadhesive (EA) feet. To demonstrate multimodality, the TTSR with two SCRs is launched by pneumatic pressure and flown over an obstacle. While flying, the SCRs are folded compactly to reduce the air drag and perch on a wall 3 m away (50 times of body length) within 0.64 s. After perching, the SCRs reconfigure themselves for crawling and separated from each other. After that, the SCRs crawl, performing planar motion, and reach predefined locations on the wall. Moreover, the SCR can move across 15°‐slope dihedral surfaces and inverted surface. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2640-4567 20220022 |
| Relation: | https://doaj.org/toc/2640-4567 |
| DOI: | 10.1002/aisy.202200223 |
| URL الوصول: | https://doaj.org/article/1edb0b1e13e540448301c3ee993d8cb1 |
| رقم الأكسشن: | edsdoj.1edb0b1e13e540448301c3ee993d8cb1 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 26404567 20220022 |
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| DOI: | 10.1002/aisy.202200223 |