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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2409.18352 |
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| _version_ | 1866917788135718912 |
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| author | Trygstad, Conor K. Blankenship, Elijah K. Perez-Arancibia, Nestor O. |
| author_facet | Trygstad, Conor K. Blankenship, Elijah K. Perez-Arancibia, Nestor O. |
| contents | We present a new millimeter-scale bimorph actuator for microrobotic applications, driven by feedforward controlled shape-memory alloy (SMA) wires. The device weighs 10 mg, measures 14 mm in length, and occupies a volume of 4.8 mm3, which makes it the lightest and smallest fully functional SMA-based bimorph actuator for microrobotics developed to date. The experimentally measured operational bandwidth is on the order of 20 Hz, and the unimorph and bimorph maximum low-frequency displacement outputs are on the order of 3.5 and 7 mm, respectively. To test and demonstrate the functionality and suitability of the actuator for microrobotics, we developed the Fish-&-Ribbon-Inspired Small Swimming Harmonic roBot (FRISSHBot). Loosely inspired by carangiformes, the FRISSHBot leverages fluid-structure interaction (FSI) phenomena to propel itself forward, weighs 30 mg, measures 34 mm in length, operates at frequencies of up to 4 Hz, and swims at speeds of up to 3.06 mm/s (0.09 Bl/s). This robot is the lightest and smallest swimmer with onboard actuation developed to date. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_18352 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A New 10-mg SMA-Based Fast Bimorph Actuator for Microrobotics Trygstad, Conor K. Blankenship, Elijah K. Perez-Arancibia, Nestor O. Robotics We present a new millimeter-scale bimorph actuator for microrobotic applications, driven by feedforward controlled shape-memory alloy (SMA) wires. The device weighs 10 mg, measures 14 mm in length, and occupies a volume of 4.8 mm3, which makes it the lightest and smallest fully functional SMA-based bimorph actuator for microrobotics developed to date. The experimentally measured operational bandwidth is on the order of 20 Hz, and the unimorph and bimorph maximum low-frequency displacement outputs are on the order of 3.5 and 7 mm, respectively. To test and demonstrate the functionality and suitability of the actuator for microrobotics, we developed the Fish-&-Ribbon-Inspired Small Swimming Harmonic roBot (FRISSHBot). Loosely inspired by carangiformes, the FRISSHBot leverages fluid-structure interaction (FSI) phenomena to propel itself forward, weighs 30 mg, measures 34 mm in length, operates at frequencies of up to 4 Hz, and swims at speeds of up to 3.06 mm/s (0.09 Bl/s). This robot is the lightest and smallest swimmer with onboard actuation developed to date. |
| title | A New 10-mg SMA-Based Fast Bimorph Actuator for Microrobotics |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.18352 |