A two-way flexural rotation manipulator using opposing shape memory alloy wires
Journal
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Start Page
6
End Page
11
ISSN
21596247
21596255
ISBN (of the container)
9781479957361
9781467325752
9781424412648
9781424480319
9781467391078
1424412641
9781509020652
9781424428533
0780377591
9798350355369
Date Issued
2009
Author(s)
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.
Event(s)
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Subjects
Flexure Mechanisms
Pid Control
Positioning Manipulators
Shape Design
Shape Memory Alloys
Flexure Mechanisms
Pid Control
Positioning Manipulators
Shape Design
Shape Memory Alloys
Algorithms
Alloys
Asymptotic Analysis
Fuzzy Control
Machine Design
Manipulators
Mechanisms
Mechatronics
Proportional Control Systems
Rotation
Shape Memory Effect
Springs (components)
Three Term Control Systems
Two Term Control Systems
Wire
Intelligent Mechatronics
SDGs
Description
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. Singapore. conference code:78051
Type
conference paper