In this paper the design of the kinematics, the device elements and the drivers of a 3-dof (degrees of freedom) robot driven by smart wires is presented. The wires are made by a shape memory alloy (SMA) and have a diameter of 0.15 mm. This robot has a parallel structure including a fixed plate and a moving plate. The plates are linked together by 3 SMA wires and a mechanical spring is located in the central part. Possible applications are the control devices to orient a mirror, a sample under a microscope or to orient the head of a micro snake like robot.

Mechanical design of a 3-dof parallel robot actuated by smart wires

BEOMONTE ZOBEL, Pierluigi;DURANTE, FRANCESCO
2009-01-01

Abstract

In this paper the design of the kinematics, the device elements and the drivers of a 3-dof (degrees of freedom) robot driven by smart wires is presented. The wires are made by a shape memory alloy (SMA) and have a diameter of 0.15 mm. This robot has a parallel structure including a fixed plate and a moving plate. The plates are linked together by 3 SMA wires and a mechanical spring is located in the central part. Possible applications are the control devices to orient a mirror, a sample under a microscope or to orient the head of a micro snake like robot.
978-1-4020-8914-5
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11697/38932
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