An anthropomorphic continuum robotic neck actuated by SMA spring-based multipennate muscle architecture

TL;DR

This paper introduces a novel anthropomorphic robotic neck powered by SMA springs, demonstrating human-like motion and validating models through experiments, offering a more efficient alternative to traditional actuators.

Contribution

The paper presents a new SMA spring-based continuum robotic neck with anthropomorphic motion capabilities and analytical modeling, advancing the design of efficient, smooth-motion humanoid necks.

Findings

The robotic neck achieves human-like range of motion.

Experimental validation confirms the accuracy of the analytical models.

SMA springs provide high power-to-weight ratio and smooth motion.

Abstract

This work presents a novel Shape Memory Alloy spring actuated continuum robotic neck that derives inspiration from pennate muscle architecture. The proposed design has 2DOF, and experimental studies reveal that the designed joint can replicate the human head's anthropomorphic range of motion. We enumerate the analytical modelling for SMA actuators and the kinematic model of the proposed design configuration. A series of experiments were conducted to assess the performance of the anthropomorphic neck by measuring the range of motion with varying input currents. Furthermore, the experiments were conducted to validate the analytical model of the SMA Multiphysics and the continuum backbone. The existing humanoid necks have been powered by conventional actuators that have relatively low energy efficiency and are prone to wear. The current research envisages application of nonconventional actuator such as SMA springs with specific geometric configuration yielding high power to weight ratio that delivers smooth motion for continuum robots as demonstrated in this present work.