A compact rotational manipulator using shape memory alloy wire actuated flexures
Journal
Proceedings - IEEE International Conference on Robotics and Automation
Start Page
550
End Page
555
ISSN
10504729
ISBN (of the container)
9780818634529
9781728173955
0818634529
0818627204
9781479969234
0780365763
9780780389144
9781538660263
078034300X
9781612843865
Date Issued
2009
Author(s)
Abstract
This paper presents the design, fabrication, and control of a rotational manipulator using shape memory alloy (SMA) wire actuated flexures. Monolithic flexure mechanisms have no friction/backlash and are capable of miniaturization. They are 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 two-step 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. We further use a SMA wire to drive the flexure. SMA exhibits large stroke with high power density and requires low driving voltage. By using versatile SMA wire, the rotational range of the manipulator can be significantly increased while the overall size can be kept compact. A feedback PID control algorithm with fuzzy-tuned gains is implemented to precisely control the response of the manipulator. We illustrate its performance by tracking and step response experiments. With the merits shown, we expect this type of manipulator can be utilized in meso to micro scale applications.
Event(s)
2009 IEEE International Conference on Robotics and Automation, ICRA '09
Subjects
Flexure-based Mechanisms
Fuzzy-tuned Pid Control
Positioning Manipulators
Shape Design
Shape Memory Alloys
Flexure-based Mechanisms
Fuzzy-tuned Pid Control
Positioning Manipulators
Shape Design
Shape Memory Alloys
Algorithms
Fuzzy Control
Machine Design
Manipulators
Mechanisms
Proportional Control Systems
Robotics
Shape Memory Effect
Three Term Control Systems
Two Term Control Systems
Wire
Alloys
Description
2009 IEEE International Conference on Robotics and Automation, ICRA '09. Kobe. conference code:77661
Type
conference paper