A new inter-phalangeal actuator for dexterous micro-grippers

Author

Troisfontaine, Nelly ; Bidaud, Philippe ; Morel, Guillaume

Author_Institution

Lab. de Robotique de Paris, Centre Univ. de Technol., Velizy, France

Volume

2

fYear

1997

fDate

20-25 Apr 1997

Firstpage

1773

Abstract

This paper presents a shape memory alloy (SMA) actuator aimed to be integrated in the phalanx of a dexterous micro-gripper. Its original design mechanically decouples motion transmission from force transmission. After a brief discussion on the operating principles of the actuator, the kinematics of the mechanism and its general features are specified. A thermo-mechanical model of the SMA fibers dynamics is then derived from an experimental analysis. Based on this model, a rational design methodology is proposed for the actuator. The last part of the paper shows experimental results. A prototype has been developed using the proposed design methodology. The paper shows the open loop results of this device. Additionally, a position switching mode controller is designed to improve precision and robustness

Keywords

closed loop systems; control system synthesis; manipulator kinematics; microactuators; position control; robust control; shape memory effects; dexterous micro-grippers; force transmission; inter-phalangeal actuator; motion transmission; position switching mode controller; precision; rational design methodology; robustness; shape memory alloy actuator; thermo-mechanical model; Actuators; Design methodology; Grippers; Magnetic materials; Prototypes; Robotic assembly; Shape memory alloys; Thermomechanical processes; Torque; Wires;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.614408

Filename

614408