ICRA 2011 Paper Abstract

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Paper TuA107.5

Kim, Seung-Won (Seoul National University), Koh, Je-Sung (Seoul National University), Cho, Maenghyo (Seoul National University), Cho, Kyu-Jin (Seoul National University)

Design and Analysis a Flytrap Robot Using Bi-Stable Composite

Scheduled for presentation during the Regular Sessions "Biologically-Inspired Robots I" (TuA107), Tuesday, May 10, 2011, 09:20−09:35, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on March 30, 2020

Keywords Biologically-Inspired Robots, Biomimetics

Abstract

This paper presents a second prototype of the flytrap robot which mimics the fast snap-through motion of the Venus flytrap, the previous version of the robot. This second prototype employs a new type of unsymmetrically laminated carbon fiber reinforced prepreg (CFRP) structure which has two different curvatures, and an SMA spring actuator. To estimate the force of snap-through the structure, a linear beam bending model is introduced and a force-displacement experiment is demonstrated. Based on the numerical and experimental results, the flytrap robot can be closed rapidly and opened for re-load. The closure time is about 100ms.

 

 

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