DocumentCode
3318866
Title
Design of a robotic arm, actuated by shape memory alloys
Author
Sallé, Damien
Author_Institution
Hautes Etudes Ind., Alberta Univ., Edmonton, Alta., Canada
Volume
3
fYear
1999
fDate
9-12 May 1999
Firstpage
1437
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Computer Engineering, 1999 IEEE Canadian Conference on
Conference_Location
Edmonton, Alberta, Canada
ISSN
0840-7789
Print_ISBN
0-7803-5579-2
Type
conf
DOI
10.1109/CCECE.1999.804917
Filename
804917
Link To Document