Design of a miniature manipulator actuated by antagonistic shape memory alloys
Start Page
217
End Page
222
ISBN (of the container)
9781467353199
Date Issued
2013
Author(s)
Abstract
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.
Event(s)
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013
Subjects
Antagonistic Actuation
Bio-inspired Actuation
Robotic Manipulators
Shape Memory Alloy Actuators
Antagonistic Actuation
Bio-inspired Actuation
Manipulator Parameters
Robotic Manipulators
Shape Memory Alloy Actuators
Shape Memory Alloy Wire
Sma Wire Actuators
Weight Constraints
Intelligent Mechatronics
Microactuators
Shape Memory Effect
Wire
Manipulators
SDGs
Description
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics: Mechatronics for Human Wellbeing, AIM 2013. Wollongong, NSW. conference code:99241
Type
conference paper