Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Published in:
Challenges for Mechanism Design in Robotics Read chapter Read first chapter

2019 | OriginalPaper | Chapter

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

Authors : Nikolay Bolotnik, Vladislav Chashchukhin, Valery Gradetsky, Dmitry Kozlov, Armen Nunuparov, Igor Smirnov, Andrei Zhukov

Published in: ROMANSY 22 – Robot Design, Dynamics and Control

Publisher: Springer International Publishing

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

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.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now
previous chapter Design of a Wooden Five-Bar Mechanism
next chapter Stiffness Analysis of Delta Parallel Robots Combining the Virtual Joint Method with an FEA Stiffness Model
Literature
1.
Bogoslavsky, I., Bolotnik, N., Chashchukhin, V., Gradetsky, V., Nunuparov, A., Kozlov, D., Smirnov, I., Zhukov, A.: Static modelling of a thermomechanical actuator for a walking microrobot. In: Proceedings of the 20th International Conference of Climbing and Walking Robots (CLAWAR), pp. 449–456 (2017)
2.
Bolotnik, N., Gradetsky, V., Zhukov, A., Kozlov, D., Smirnov, I., Chashchukhin, V.: Mobile microrobotics for space exploration: the state-of-the-art and prospects. In: Proceedings of the 19th International Conference of Climbing and Walking Robots (CLAWAR), Advances in Cooperative Robotics, pp. 739–746 (2016)
3.
Chernousko, F., Smirnov, I., Kozlov, D., Zhukov, A., Chashchukhin, V., Gradetsky, V., Bolotnik, N., Samokhvalov, G.: Mikrosistemnyj zahvat (microsystem grasp), Patent of Russia RU2566454C2 (2016)
4.
Ebefors, T.: Polyimide V-groove joints for three – dimensional silicon transducers – exemplified through a 3-D turbulent gas flow sensor and micro-robotic devices. Ph.D. dissertation, Royal Institute of Technology (KTH) (2000)
5.
Selivanov, A., Zhukov, A., Dmitriev, A., Urlichich, Y., Korpukhin, A.: Mikrostrukturnaya sistema termoregulirovaniya kosmicheskogo apparata (microstructural system of temperature control of spacecraft), Patent of Russia RU2465181C2 (2012)
6.
Smirnov, I., Kozlov, D., Zhukov, A., Chashchukhin, V., Gradetsky, V., Bolotnik, N.: Mikrosistemnyj kosmicheskij robot-inspektor (varianty) (microsystem space robot-inspector (variants)), Patent of Russia RU2566454C2 (2016)
7.
Zhukov, A., Korpukhin, A., Smirnov, I., Kozlov, D., Babaevsky, P.: Thermal micromechanical actuator and method of making said actuator, Patent of Russia RU2448896C2 (2012)
Metadata
Title
Thermomechanical Actuator for Micro-robotic Systems: A Model and Parameter Estimation
Authors
Nikolay Bolotnik
Vladislav Chashchukhin
Valery Gradetsky
Dmitry Kozlov
Armen Nunuparov
Igor Smirnov
Andrei Zhukov
Copyright Year
2019
Book
ROMANSY 22 – Robot Design, Dynamics and Control

Print ISBN: 978-3-319-78962-0

Electronic ISBN: 978-3-319-78963-7

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-319-78963-7_43