A two-degrees-of-freedom miniature manipulator actuated by antagonistic shape memory alloys

Chih Ming Lai, Cheng Yu Chu, Chao Chieh Lan

研究成果: Article同行評審

9 引文 斯高帕斯(Scopus)


This paper presents a miniature manipulator that can provide rotations around two perpendicularly intersecting axes. Each axis is actuated by a pair of shape memory alloy (SMA) wires. SMA wire actuators are known for their large energy density and ease of actuation. These advantages make them ideal for applications that have stringent size and weight constraints. SMA actuators can be temperature-controlled to contract and relax like muscles. When correctly designed, antagonistic SMA actuators have a faster response and larger range of motion than bias-type SMA actuators. This paper proposes an antagonistic actuation model to determine the manipulator parameters that are required to generate sufficient workspace. Effects of SMA prestrain and spring stiffness on the manipulator are investigated. Taking advantage of proper prestrain, the actuator size can be made much smaller while maintaining the same motion. The use of springs in series with SMA can effectively reduce actuator stress. A controller and an anti-slack algorithm are developed to ensure fast and accurate motion. Speed, stress, and loading experiments are conducted to demonstrate the performance of the manipulator.

期刊Smart Materials and Structures
出版狀態Published - 2013 8月 1

All Science Journal Classification (ASJC) codes

  • 訊號處理
  • 土木與結構工程
  • 原子與分子物理與光學
  • 材料科學(全部)
  • 凝聚態物理學
  • 材料力學
  • 電氣與電子工程


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