The space exploration activities are merging new technologies in order to develop systems challenged to achieve capabilities for high mission experience. Inspired by the numerous applications in space exploration, with the integration of shape memory alloys (SMAs) and multi-locomotion grasper, a 3D printed continuous All Terrain Grasper Transport (AT-GT) vehicle was created.

          In order to reduce failure of the mechanical system, the vehicle is equipped with SMA suspension and SMA tensioner of a pulley system with adaptable height able to achieve movement on a given trajectory and adjust to any terrain. SMA actuators, spring and provide controllable actuation based on the simplicity of their design and the shape memory effect.

Using the advantages of the origami engineering, soft robotics and smart material implementation, a bio-inspired independent grasper was integrated capable of leaving the vehicle, grabbing an object and bringing it back to the vehicle. The several movements of the 3D printed grasper like folding, unfolding, crawling and grasping are achieved by combination of flexible and smart materials.

The concept development, the analytical models and the prototype including the benefits of the combined work of the vehicle and the grasper are presented.

Keywords: smart materials actuation, bio-inspired vehicle, multi-locomotion, origami engineering, grasper


Autonomous Multifunctional Vehicle With Integrated Bio-Inspired SMA Actuated Grasper

Division / Sponsors: 
Aerospace Division

Paper Proceedings: https://asmedigitalcollection.asme.org/SMASIS/SMASIS2020/volume/84027

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