A two-way flexural rotation manipulator using opposing shape memory alloy wires

Jhe Hong Wang, Chen Hsien Fan, Chao Chieh Lan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper presents the design, fabrication, and control of a two-way rotational manipulator using opposing shape memory alloy (SMA) wire actuated flexures. Monolithic flexure mechanisms have no friction/backlash and are capable of miniaturization. SMA exhibits large stroke, high energy density, and requires low driving voltage. Combining SMA as driver and flexure as force/motion transmitter makes them well-suited for tasks that required high precision and packed space. To explore flexure shapes beyond traditional notch hinges and leaf springs, we present a general design method to find the optimal flexure shapes for maximal rotation without yield. The advantages gained from shape variations are shown through a simulation example. By parallel connecting two flexure mechanisms with two opposing one-way SMA wires, the manipulator achieves two-way motion without sacrificing stroke. By actively contracting and extending, two-way manipulators are much faster than owe-way manipulators that rely passively on bias spring to extend. A feedback PID control algorithm with fuzzy-tuning gains is implemented to precisely control the response of the manipulator. We illustrate the two-way performance by several tracking response experiments. With the merits shown, we expect this type of manipulator can be utilized in meso to micro scale applications.

Original languageEnglish
Title of host publication2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages6-11
Number of pages6
DOIs
Publication statusPublished - 2009 Nov 4
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 2009 Jul 142009 Jul 17

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CountrySingapore
CitySingapore
Period09-07-1409-07-17

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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