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
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;
Conference_Titel :
Industrial Electronics, 2002. ISIE 2002. Proceedings of the 2002 IEEE International Symposium on
Print_ISBN :
0-7803-7369-3
DOI :
10.1109/ISIE.2002.1026323
