Design process and simulation testing of a shape memory alloy actuated robotic microgripper
نویسندگان
چکیده
منابع مشابه
Development of a Shape Memory Alloy Actuated Robotic Hand
This paper presents the ideology of this research, which is to utilize advanced actuators to design and develop innovative, lightweight, powerful, compact, and dexterous robotic technology. The key to satisfying these objectives is the use of advanced or smart materials, such as Shape Memory Alloys (SMAs) to power the joints of a prosthetic hand, and other dexterous robotic hands. The mechanica...
متن کاملFuzzy Control for Shape Memory Alloy Tendon Actuated Robotic Structure
Shape memory alloy offer an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model is required. Due a particular possibilit...
متن کاملMechanical design of a shape memory alloy actuated prosthetic hand.
This paper presents the mechanical design for a new five fingered, twenty degree-of-freedom dexterous hand patterned after human anatomy and actuated by Shape Memory Alloy artificial muscles. Two experimental prototypes of a finger, one fabricated by traditional means and another fabricated by rapid prototyping techniques, are described and used to evaluate the design. An important aspect of th...
متن کاملNonlinear Control of a Shape Memory Alloy Actuated Manipulator
This paper presents a nonlinear, robust control algorithm for accurate positioning of a single degree of freedom rotary manipulator actuated by Shape Memory Alloy (SMA). A model for an SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive model of Shape Memory Alloy, and electrical and heat transfer behavior of SMA wire. This model is us...
متن کاملSliding Mode Control of a Shape Memory Alloy Actuated Manipulator
This paper presents a two-part controller that uses a state variable estimator for control of a single degree of freedom rotary manipulator actuated by Shape Memory Alloy (SMA) wire. A model for the SMA actuated manipulator is presented. The model includes nonlinear dynamics of the manipulator, a constitutive model of the Shape Memory Alloy, and the electrical and heat transfer behavior of SMA ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Microsystem Technologies
سال: 2019
ISSN: 0946-7076,1432-1858
DOI: 10.1007/s00542-019-04599-6