The Effect of Large Deflections of Joints on Foldable Miniature Robot Dynamics
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The Effect of Large Deflections of Joints on Foldable Miniature Robot Dynamics Cem Karakadıoğlu 1 & Mohammad Askari 1 & Onur Özcan 1 Received: 9 August 2019 / Accepted: 3 February 2020 # Springer Nature B.V. 2020
Abstract In miniature robotics applications, compliant mechanisms are widely used because of their scalability. In addition, compliant mechanism architecture is compatible with the manufacturing methods used to fabricate small scale robots, such as “foldable robotics”, where the size and the materials used allow much larger deflections. In this paper, the kinematics of compliant mechanisms used in miniature foldable robots are investigated with the assumption of nonlinear large deflections that occur at the flexure joints. The solution of the large beam deflection is acquired using elliptic integrals and is verified with finite element analysis and experiments on a simple small foldable leg linkage. The large deflection model takes joint strain energies into account and yields accurate estimations for load capacity of the mechanism as well as the necessary input torque for actuation of the leg. Therefore, the model presented can be used to estimate the load capacity of a miniature robot, as well as to select appropriate actuators. The work is also extended to estimate the compliant leg kinematics and rigid body dynamics of a foldable robot. The robot’s large deflection simulation results are compared with experiments and a simplified rigid-link pin-joint kinematic model. Our results demonstrate the modeling accuracy of the two approaches and can be used by foldable robotics community when deciding on the strategy to choose for modeling their robots. Keywords Foldable robots . Miniature robots . Legged robots . Robot dynamics
1 Introduction Miniature robots have many exciting capabilities such as agile locomotion, high maneuverability, and ability to scale obstacles due to their small sizes and low weights. Such robots can be used to easily and silently access confined spaces, therefore theyare ideal for search and rescue operations under collapsed buildings and surveillance practices in hazardous environments. Despite these advantages and potential uses, the small-scale manufacturing challenges limit the widespread use of miniature robots. There are a few manufacturing techniques developed specifically for miniature robots, potentially the most influential one being the smart composite manufacturing (SCM) method [1]. SCM was one of the first methods developed for manufacturing miniature robots and is the ancestor to several other methods such as Printed Circuit MEMS (PC-MEMS) [2], Pop-up book Micro-Electro-
* Onur Özcan [email protected] 1
Miniature Robotics Laboratory, Mechanical Engineering Department, Bilkent University, Ankara, Turkey
Mechanical System (Pop-Up MEMS) [3], and foldable robotics [4]. The aforementioned manufacturing techniques utilize different composite structures to manufacture mechanical structures. The laser type and the materials used, and the precision achieved during th
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