Eventos Anais de eventos
DINAME2019
DINAME2019
Nonlinear Dynamics of an Origami-Wheel Robot
Submission Author:
Larissa Fonseca , RJ
Co-Authors:
Larissa Fonseca, Marcelo Savi
doi://10.26678/ABCM.DINAME2019.DIN2019-0116
Abstract
Self-folding structures have an increasing importance in different areas that include medicine, as the devices employed for minimally invasive surgery; architecture, as the luminosity control through foldable panels; aerospace engineering, as solar panel arrays; and robotic, which includes wheels. Smart material elements, such as shape memory alloys (SMAs) and piezoelectric, provide actuation that increases the range of applicability of origami structures, allowing the design self-folding adaptive systems. This paper deals with the dynamical analysis of an origami-wheel robot actuated by SMAs. The yaw rotation, that promotes the route change, is provided by the radius variation of the wheels. Dynamical aspects must be considered during both the design and operation of the wheel-robot. A 4-degree of freedom reduced order model (4-DOF) is proposed to represent the car dynamical behavior. This model is achieved considering simplifications based on mechanism analysis and symmetric behaviors. Numerical simulations investigate operational conditions, considering thermal and mechanical loads
Keywords
self-folding structures, origami-inspired devices, Smart Structures, smart materials
