Title :
Design of a robotic arm, actuated by shape memory alloys
Author_Institution :
Hautes Etudes Ind., Alberta Univ., Edmonton, Alta., Canada
Abstract :
The paper is based on the results achieved on a project for the MECE5 82 (Smart Materials) and EE565 (Introduction to Robotics) courses at the University of Alberta. The objective of this project is simple: designing a robotic arm actuated by shape memory alloys. First we designed the arm. We then studied its workspace, kinematics, dynamics and control. Then we designed the actuation, using shape memory alloys. Finally, from the results of the actuation, we optimized the design of the arm to increase its performance.
Keywords :
intelligent actuators; intelligent materials; manipulator dynamics; manipulator kinematics; shape memory effects; EE565 course; MECE5 82 course; University of Alberta; robotic arm; shape memory alloys; workspace; Arm; Design optimization; Geology; Grippers; Kinematics; Performance analysis; Service robots; Shape memory alloys; Temperature; Thermal loading;
Conference_Titel :
Electrical and Computer Engineering, 1999 IEEE Canadian Conference on
Conference_Location :
Edmonton, Alberta, Canada
Print_ISBN :
0-7803-5579-2
DOI :
10.1109/CCECE.1999.804917
