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Inicio Revista Iberoamericana de Automática e Informática Industrial RIAI Músculos Inteligentes en Robots Biológicamente Inspirados: Modelado, Control y...
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Vol. 8. Núm. 4.
Páginas 385-396 (Octubre - Diciembre 2011)
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Vol. 8. Núm. 4.
Páginas 385-396 (Octubre - Diciembre 2011)
DOI: 10.1016/j.riai.2011.09.005
Open Access
Músculos Inteligentes en Robots Biológicamente Inspirados: Modelado, Control y Actuación
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J. Colorado??
Autor para correspondencia
jd.colorado@upm.es

Autor para correspondencia.
, A. Barrientos, C. Rossi
Centro de Automática y Robótica UPM-CSIC. Grupo de Robótica y Cibernética, Universidad Politécnica de Madrid, Spain
Información del artículo
Resumen

Las aleaciones metálicas que exhiben una propiedad conocida como efecto de memoria de forma, pertenecen a la clase de materiales inteligentes cuya aplicación más notable en el campo de la robótica se refleja en el uso de actuadores musculares artificiales, ó músculos inteligentes. Estos materiales tienen una estructura cristalina uniforme que cambia radicalmente en función de su temperatura de transición, causando su deformación. Se les denomina materiales inteligentes por la capacidad de recordar su configuración inicial después de recibir dicho estímulo térmico. Este artículo presenta la implementación de un actuador muscular inteligente aplicado en un micro-robot aéreo bio-inspirado tipo murciélago. Esto mamíferos voladores desarrollaron poderosos músculos que se extienden a lo largo de la estructura ósea de las alas, adquiriendo una asombrosa capacidad de maniobra gracias a la capacidad de cambiar la forma del ala durante el vuelo. Replicar este tipo de alas mórficas en un prototipo robótico requiere el análisis de nuevas tecnologías de actuación, abordando los problemas de modelado y control que garanticen la aplicabilidad de este actuador compuesto por fibras musculares de SMAs.

Palabras clave:
Aleación con Memoria de Forma (SMA)
Robots bio-inspirados
Alas mórficas
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