DocumentCode
2119620
Title
A robot actuated by shape memory alloy wires
Author
Raparelli, T. ; Beomonte Zobel, P. ; Durante, F.
Author_Institution
Dipt. di Meccanica, Politecnico di Torino
Volume
2
fYear
2002
fDate
2002
Firstpage
420
Abstract
The paper presents the design of a 3-DOF parallel robot actuated by SMA wires. The paper explains the kinematic model, the mechanical design and the control system of the robot. The robot control system is a closed loop one with the feedback of the electric resistance of the SMA wires. The actuators are Nitinol wires of a diameter of 0.15 mm. The prototype of the robot is manufactured and the first experimental tests were carried out. The results of a step response test and of some trajectory control are shown and validate the design.
Keywords
closed loop systems; feedback; microactuators; microrobots; robot kinematics; shape memory effects; step response; 0.15 mm; 3-DOF parallel robot; Nitinol wires; closed loop control system; control system; electric resistance; feedback; kinematic model; mechanical design; robot actuation; shape memory alloy wires; step response test; trajectory control;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, 2002. ISIE 2002. Proceedings of the 2002 IEEE International Symposium on
Print_ISBN
0-7803-7369-3
Type
conf
DOI
10.1109/ISIE.2002.1026323
Filename
1026323
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