Title :
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
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;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614408
