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ASME Press Select Proceedings
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3
By
ISBN:
9780791859810
No. of Pages:
906
Publisher:
ASME Press
Publication date:
2011
eBook Chapter
336 Dynamic Modeling of a New Snake Robot Using SMA Actuators
By
M. M. Kheirikhah
,
M. M. Kheirikhah
Faculty of Industrial and Mechanical Engineering,
Islamic Azad University
, Qazvin Branch, Iran
; kheirikhah@qiau.ac.ir
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A. Khodayari
,
A. Khodayari
Department Of Mechanical Engineering,
Islamic Azad University
, Pardis Branch, Tehran
, Iran
; khodayari@pardisiau.ac.ir
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S. Rabiee
S. Rabiee
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Page Count:
5
-
Published:2011
Citation
Kheirikhah, MM, Khodayari, A, & Rabiee, S. "Dynamic Modeling of a New Snake Robot Using SMA Actuators." International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3. Ed. Xie, Y. ASME Press, 2011.
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Shape Memory Alloy wires are currently employed in robotics, as actuators. In this paper a new mechanism is designed and modeled for a snake robot by using of Shape Memory Alloy actuators. The robot consists of three links which connected together with two revolute joints, two Shape Memory Alloy wires in order to adduction links of robot and two torsional springs to restore links of robot to their original positions. The robot model is simulated in MATLAB/Simulation. Finally, Dynamic behavior of robot is studied under different inputs.
Abstract
Key Words
1. Introduction
2. Dynamic
3. Discussion and Results
4. Conclusion
References
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