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Practicing Detachment: A Separation Mechanism for OSCAR Bots Using Shape-Memory Alloys

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AdrianMB_Thesis.pdf (21.86 MB)

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2025-04-26

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The OSCAR (Origami-enabled Soft Crawling Autonomous Robot) system, developed in the Bio-inspired Adaptive Morphology (BAM) Lab, utilizes Kresling pattern origami towers to achieve caterpillar-inspired rectilinear motion. However, it previously lacked a remotely activated detachment mechanism between modules. This project presents the design, implementation, and testing of a Shape Memory Alloy (SMA) based detachment mechanism for OSCAR. SMAs serve as lightweight actuators when coiled and activated by electrical current. The mechanism combines an optimized magnetic configuration with a geared SMA spring wire actuation system, providing a reliable method for separating connected modules while maintaining strong attachment during normal operation. The mechanism serves as a first step toward more robust, field-deployable versions of the OSCAR modular robotic system.

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https://theses-dissertations.princeton.edu/handle/88435/dsp01pz50h057j

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Mechanical and Aerospace Engineering, 1924-2024