Title :
Parallel system using V-shaped shape memory alloy actuator
Author :
Ishibashi, Ryoto ; Oda, Takahiko ; Tahara, Kenji ; Kino, Hitoshi ; Kojima, Akira
Author_Institution :
Div. of Human Mechatron. Syst., Tokyo Metropolitan Univ., Tokyo, Japan
Abstract :
This paper proposed a type of tendon driven system using V-shaped SMA (shape-memory-alloy) actuator. In the proposed system, SMA actuators are bended at the end effector and the bended angles are controllable. Thus, the stiffness of the system can be adjusted by the bended angles. In addition, to control the end effector to the desired position, we developed a position control method based on the internal force using only the geometric constraints of the system. The validity of the proposed method was examined by some experiments.
Keywords :
actuators; alloys; end effectors; position control; shape memory effects; SMA actuators; V-shaped shape memory alloy actuator; end effector; geometric constraints; internal force; parallel system; position control method; tendon driven system; Actuators; Electrodes; End effectors; Force; Shape memory alloys; Trajectory; Vectors; Parallel system; Shape Memory Alloy actuator; Stiffness control;
Conference_Titel :
SICE Annual Conference (SICE), 2012 Proceedings of
Conference_Location :
Akita
Print_ISBN :
978-1-4673-2259-1