Abstract
The flower robot, a household service robot, has been main focus of our research. Generally, the flower robot has the appearance of a common flower which consists of the petal, the stem, and the leafage. Besides having the appearance of a flower, the flower robot has the following functions, such as a moving mechanism, a sensing ability, and a home appliance function. Especially, the moving function is very important function among the various function. The moving function of flower robot consists of the bending of stem, the blooming of petal and the stirring of the leafage. In this paper, we focused on the movement of the flower robot structure. As an actuator for flower structure, we adopted coil type Shape Memory Alloy and proposed silicone stem, petal and leafage structure which 6 coil type SMA. Firstly, using SMA actuator, we designed and fabricated the flower structure. Secondly, we derive the kinematic equation such as stem, petal and leafage. Then, through the kinematic equation we can design the control system to drive the flower robot by dSPACE. Finally, through the experiment we prove the feasibility of the system, its performances are evaluated.
| Original language | English |
|---|---|
| Pages | 888-893 |
| Number of pages | 6 |
| State | Published - 2008 |
| Event | 39th International Symposium on Robotics, ISR 2008 - Seoul, Korea, Republic of Duration: 15 Oct 2008 → 17 Oct 2008 |
Conference
| Conference | 39th International Symposium on Robotics, ISR 2008 |
|---|---|
| Country/Territory | Korea, Republic of |
| City | Seoul |
| Period | 15/10/08 → 17/10/08 |
Keywords
- Actuator
- Control system
- Flower structure
- Shape memory alloy (SMA)