Design of a miniature manipulator actuated by antagonistic shape memory alloys

Chih Ming Lai, Cheng Yu Chu, Chao Chieh Lan

研究成果: Conference contribution

3 引文 斯高帕斯(Scopus)

摘要

This paper presents a miniature manipulator that can provide rotations along 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 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. Finally, a prototype is presented with experiments to demonstrate the performance of the manipulator.

原文English
主出版物標題2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
主出版物子標題Mechatronics for Human Wellbeing, AIM 2013
頁面217-222
頁數6
DOIs
出版狀態Published - 2013 九月 16
事件2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013 - Wollongong, NSW, Australia
持續時間: 2013 七月 92013 七月 12

出版系列

名字2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013

Other

Other2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
國家/地區Australia
城市Wollongong, NSW
期間13-07-0913-07-12

All Science Journal Classification (ASJC) codes

  • 人工智慧
  • 電氣與電子工程
  • 機械工業

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