Fabrication, modeling and set-point control of a new flexible microrobot module (FMM) by using SMA actuators

Abiri, Reza; Kabganian, Mansour; Nadafi, Reza

doi:10.1109/icrom.2013.6510095

Cited by 8 publications

(7 citation statements)

References 19 publications

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“…One of the traditional non-model-based controllers is the PID controller, which may be utilized to control the SMA-based actuator systems. However, the PID controller with fixed gains contains some drawbacks 21 in comparison with the developed fuzzy controller, which will be demonstrated later in section “Simulation and experimental test results.” Although it seems that the PID controller with variable gains or a fuzzy PID controller can provide better performance for such systems. 23,24 It is worth mentioning that the fuzzy controller is usually an appropriate control choice in the systems containing uncertainty and/or complex model.…”

Section: Fuzzy Controller Designmentioning

confidence: 99%

Precise position control of shape memory alloy–actuated continuum modules through fuzzy algorithm

Hadi

Akbari

Alipour

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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Development of a fuzzy precise controller for the continuum modules utilizing shape memory alloy actuators is the main focus of this study. To this end, two continuum and flexible shape memory alloy-actuated modules, containing shape memory alloy wires or shape memory alloy springs, are considered as the testbed of the control problem to be tackled. The fuzzy controllers in this application are developed using two strategies in this research. In the first technique, the position errors of the two motion variables of the system are considered in the controller design process. The resulted controller is referred as ''error-based fuzzy controller.'' In the second technique, which is called as ''improved fuzzy controller,'' the parameters of the desired configuration of the system, in addition to their errors, are considered in controller design process. This procedure makes it possible to overcome the error-based fuzzy controller drawbacks. In order to validate the simulation results, experimental tests are conducted. Both simulation and experimental results reveal the performance of the developed novel two-stage improved fuzzy controller against error-based fuzzy controller and traditional proportional-integral-derivative controller.

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Section: Fuzzy Controller Designmentioning

confidence: 99%

Precise position control of shape memory alloy–actuated continuum modules through fuzzy algorithm

Hadi

Akbari

Alipour

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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show abstract

“…Due to the fact that the considered workspace for FMM is in a small enough range of angle changes, the other 3 DOFs that are related to the lateral movements and the rotation of the plate around its center can be considered negligible. So, there are three equations that describe the configuration of 3-DOF FMM (Abiri, 2011)…”

Section: Modeling Of Fmmmentioning

confidence: 99%

“…As mentioned before, noises and unpredictable disturbances such as change in environment temperature and uncertainties in parameters encouraged us to design a controller. In our previous work (Abiri et al, 2013), we used proportional–integral–derivative (PID) and Bang–Bang controllers to do the set-point control of the FMM’s maneuvers. Due to the fact that FMM is an intensively nonlinear dynamical system, designing a nonlinear controller, in order to solve the system’s problem in tracking the desired maneuvers, is mandatory.…”

Section: Closed-loop System Of Fmmmentioning

confidence: 99%

Design, fabrication, and nonlinear control of a flexible minirobot module by using shape memory alloy actuators

Abiri

Nadafi

Kabganian

2015

Journal of Intelligent Material Systems and Structures

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Recently, the increasing need for performing intricate operations in small dimensions has motivated many researchers and industrialists to focus on minirobots. Different types of minirobots with diverse locomotive mechanisms have been designed for various applications. Modular design is a new method which is employed to fabricate small robots with more flexibility and capability. In many works, each module of modular minirobots has rotational displacement. In this article, a flexible minirobot module is developed and manufactured which can produce controlled rotational displacement. Shape memory alloy springs are applied as the actuators to provide impressively large strokes. The final fabricated flexible minirobot module is verified by the open-loop experimental tests. In order to achieve the desired maneuvers and have a perfect tracking of reference input, a nonlinear fuzzy controller is developed and implemented to control the maneuvers of flexible minirobot module. Finally, the results are discussed which show good agreement between the simulations and experimental tests.

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“…Development of Stewart platform using SMA as the actuators has been extensively reported due to the tremendous characteristics of SMA [17][18][19][20]. However, they are large in size, involve complicated design, and provide very limited displacement.…”

Section: Introductionmentioning

confidence: 99%

Development of Miniature Stewart Platform Using TiNiCu Shape-Memory-Alloy Actuators

AbuZaiter

Kazi

et al. 2015

Advances in Materials Science and Engineering

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A Stewart platform is a parallel manipulator robot that is able to perform three linear movements, lateral, longitudinal, and vertical, and three rotations, pitch, yaw, and roll. This paper reports a 30 mm × 30 mm × 34 mm miniscale Stewart platform using TiNiCu shape-memory-alloy (SMA) actuators. The proposed Stewart platform possesses various advantages, such as large actuation force and high robustness with a simple mechanical structure. This Stewart platform uses four SMA actuators and four bias springs and performs a linearz-axis movement and tilting motions. The SMA actuators are activated by passing a current through the SMA wires using a heating circuit that generates a pulse width modulation (PWM) signal. This signal is varied to control the level of the displacement and tilting angle of the platform. The tilting direction depends on the SMA actuator that is activated, while all four SMA actuators are activated to achieve the linearz-axis movement. Each SMA actuator exerts a maximum force of 0.6 N at PWM duty cycle of 100%. The fabricated miniature Stewart platform yields a full actuation of 12 mm in thez-axis at 55°C, with a maximum tilting angle of 30° in 4 s.

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Fabrication, modeling and set-point control of a new flexible microrobot module (FMM) by using SMA actuators

Cited by 8 publications

References 19 publications

Precise position control of shape memory alloy–actuated continuum modules through fuzzy algorithm

Precise position control of shape memory alloy–actuated continuum modules through fuzzy algorithm

Design, fabrication, and nonlinear control of a flexible minirobot module by using shape memory alloy actuators

Development of Miniature Stewart Platform Using TiNiCu Shape-Memory-Alloy Actuators

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