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.
A Robot Actuated by Shape Memory Alloy Wires
BEOMONTE ZOBEL, Pierluigi;DURANTE, FRANCESCO
2002-01-01
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.File in questo prodotto:
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