Shape memory alloy wires as actuators for a minirobot

Mândru, Dan; Lungu, Ion; Noveanu, Simona; Tatar, O.

doi:10.1109/aqtr.2010.5520861

Cited by 5 publications

(8 citation statements)

References 8 publications

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“…There are multiple examples of relatively simple classical control approaches for SMAs in the literature, such as simple P controllers [12], PD controllers [13] [14] or PI controllers [15]. The common problem of the majority of these controllers is that they introduce notable undesirable overshoot to the position control and/or cannot track the reference in a smooth way.…”

Section: Control Algorithmmentioning

confidence: 99%

High-displacement fast-cooling flexible Shape Memory Alloy actuator: Application to an anthropomorphic robotic hand

Villoslada

Caballero

Copaci

et al. 2014

2014 IEEE-RAS International Conference on Humanoid Robots

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This paper presents a novel Shape Memory Alloy (SMA) linear actuator and its application driving the joints of an anthropomorphic robotic hand. Its main feature is that it is a flexible SMA actuator, it is designed so that it can be bent. The possibility of bending the actuator while preserving its capacity to produce a linear movement allows to use very long SMA wires, able to yield a great linear displacement, in a confined space. This feature provides better integration and adaptability than other existing high-displacement SMA actuators. The mechanical design of the presented SMA flexible actuator is based on the Bowden cable transmission system, using a multilayer sheath with a PTFE inner sheath to reduce friction losses and a stainless steel outer sheath that functions as a heat sink to reduce the cooling time of the SMA element. To test the SMA actuator with a real device, a robotic hand has been built using low cost rapid prototyping techniques from an open source design. The designed flexible SMA actuator has a great potential to be used in humanoid robots or robotic prostheses, due to its adaptability, output force, low weight and silent operation.

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Section: Control Algorithmmentioning

confidence: 99%

High-displacement fast-cooling flexible Shape Memory Alloy actuator: Application to an anthropomorphic robotic hand

Villoslada

Caballero

Copaci

et al. 2014

2014 IEEE-RAS International Conference on Humanoid Robots

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show abstract

“…The thermal shape memory effect [6] is caused by the changes of crystalline structure from a highly symmetrical structure (austenite) to a structure with a less symmetrical crystalline organization (martensite). SMAs can be plastically deformed at low temperature and upon exposure to higher temperature, return to the shape prior to the deformation.…”

mentioning

confidence: 99%

Experimental Characterization of Actuators for Micro Air Vehicles

Guglieri

Sartori

2011

International Journal of Micro Air Vehicles

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Mini-UAVs and RC slow flyers require compact, lightweight and responsive actuators. Shape memory alloy wires can be used to design ultra-light micro-servos. This technology relies on the reversible change in crystalline structure that a SMA wire undergoes when electricity runs through it. The resulting contraction is used to deflect the aircraft control surfaces. This paper introduces SMA wires technology and its application to the design of a small-size and lightweight actuator for elevon type controls. A conventional servo is taken as a reference to compare static and dynamic performance of the realized wire configuration prototype. A wind tunnel experiment is set up to test the behavior at different airspeeds and the servos response to variable frequency input is recorded. Extensive data analysis is performed to estimate the system models and to predict their bandwidth. In particular, Prediction-Error Minimization method is applied and Akaike's Final Prediction-Error is used to evaluate the model fitting accuracy. Results show that the SMA servo, despite its excellent general characteristics (i.e. small size, light weight, high power to weight ratio, silent operation, long life) seems to be only partially suitable for small scale flying vehicles due to its low bandwidth. By contrast, the conventional low cost servo provides a faster response in terms of torque output but fails to be accurate and repeatable under dynamic load conditions. 1. INTRODUCTION Actuators are like the muscles of a mechanical system, the parts which convert stored energy into movement. As an example, actuators are electric motors that spin a wheel or gear, or linear actuators that control industrial robots in factories.

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“…Shape memory alloys, in particular Nitinol based alloys, have received much attention in many fields of robotics research due to their benefits over conventional approaches, such as low mass and volume, simplicity, high force and stroke output, as well as silent operation and negligible electromagnetic interference [70]. Most robotic applications of shape memory alloys take advantage of their actuating ability in order to generate motion and exert forces [71] [72]. Shape memory alloy elements are often employed as the actuating component within a discrete actuator, but may also be integrated or distributed within the robot body or structure.…”

Section: R O B O Tic Smentioning

confidence: 99%

“…Replacing the electric joint motors with such actuators improves the manipulator's performance and efficiency, as well as lowers the overall size and mass of the system. Flexible manipulators employing shape memory alloy actuators have also been F ig u re 12: Robotic manipulator actuated by SMA wires [72].…”

Section: R O B O Tic Smentioning

confidence: 99%

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Modeling fo the stress-strain-resistance behaviour of Ni-Ti and Ni-Ti-Cu shape memory alloys for use in sensorless actuator position control

Lynch¹

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Shape memory alloy wires as actuators for a minirobot

Cited by 5 publications

References 8 publications

High-displacement fast-cooling flexible Shape Memory Alloy actuator: Application to an anthropomorphic robotic hand

High-displacement fast-cooling flexible Shape Memory Alloy actuator: Application to an anthropomorphic robotic hand

Experimental Characterization of Actuators for Micro Air Vehicles

Modeling fo the stress-strain-resistance behaviour of Ni-Ti and Ni-Ti-Cu shape memory alloys for use in sensorless actuator position control

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