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Thermomechanical Actuator for Micro-robotic Systems: A Model and Parameter Estimation

  • Nikolay BolotnikEmail author
  • Vladislav Chashchukhin
  • Valery Gradetsky
  • Dmitry Kozlov
  • Armen Nunuparov
  • Igor Smirnov
  • Andrei Zhukov
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 584)

Abstract

The paper deals with modeling of a thermomechanical actuator for a microrobot. The actuator is modeled by a linkage of rigid bars connected by elastic joints. A series of experiments were performed to estimate the parameters of the adopted model. The parameters of the model are calculated and validated. The actuators of such a type can be used, for example, in robotic devices designed for operation in spacecraft. These actuators are simple to manufacture and control. Mathematical modeling of the mechanical properties of the actuators could help plan motions and design control strategies for robotic systems.

Keywords

Thermomechanical actuator Multilink systems Walking microrobot Space robot 

Notes

Acknowledgements

This study was supported by the Russian Science Foundation (Project 14-19-00949).

References

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Copyright information

© CISM International Centre for Mechanical Sciences 2019

Authors and Affiliations

  • Nikolay Bolotnik
    • 1
    Email author
  • Vladislav Chashchukhin
    • 1
  • Valery Gradetsky
    • 1
  • Dmitry Kozlov
    • 2
  • Armen Nunuparov
    • 3
  • Igor Smirnov
    • 2
  • Andrei Zhukov
    • 2
  1. 1.Ishlinsky Institute for Problems in Mechanics of the Russian Academy of SciencesMoscowRussia
  2. 2.Joint-Stock Company “Russian Space Systems”MoscowRussia
  3. 3.Moscow Institute of Physics and TechnologyMoscow RegionRussia

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