DESIGN, MANUFACTURING AND CONTROL OF A CONTINUUM ROBOTIC MODULE ACTUATED BY SHAPE MEMORY ALLOYS

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HADI ALIREZA; AKBARI HOSSEIN; ALIPOUR KHALIL

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

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Paper Information

Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:2 Page(s): 253-263

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Information Journal Paper

Title

DESIGN, MANUFACTURING AND CONTROL OF A CONTINUUM ROBOTIC MODULE ACTUATED BY SHAPE MEMORY ALLOYS

Author(s)

HADI ALIREZA | AKBARI HOSSEIN | ALIPOUR KHALIL | Issue Writer Certificate

Keywords

SHAPE MEMORY ALLOY SPRINGQ1

CONTINUUM MODULEQ1

DESIGNQ3

CONTROLQ2

Abstract

Continuum and flexible manipulators have a special role in medical applications. One application is robotic manipulators used for surgery or endoscopic tool used for inspection of body parts like esophagus or colon. In addition to small size, better maneuverability increases the tool performance in real applications. One of the useful actuators in miniaturizing mechatronic systems is shape memory alloys. This material, typically used as a linear actuator, produces high forces in comparison to weight.In this paper, by embedding three shape memory springs inside the structure of a flexible module, a two-DOF mechanism is provided. The module has rigorous usage in modular robotic systems, especially flexible manipulators. The developed module produces large deflection in addition to covering a large workspace. Modeling of the module is discussed in this paper for extracting module parameters in DESIGN and implementing the simulation. Through the complex behavior of SMA and uncertainty in model, CONTROL of SMA is a challenge. In this paper using a novel algorithm, a desired shape for the module is provided. Using the new non model based CONTROL approach, the final shape or position is realized. The adequacy of introduced CONTROLler is verified through experiments. Large workspace and CONTROLlability of module make it feasible for real applications.

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References

DESIGN AND DYNAMIC MODELING OF A MODULE INCLUDED A COMPRESSIVE SPRING AND ACTUATED BY SHAPE MEMORY ALLOY WIRE

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APA: Copy

HADI, ALIREZA, AKBARI, HOSSEIN, & ALIPOUR, KHALIL. (2016). DESIGN, MANUFACTURING AND CONTROL OF A CONTINUUM ROBOTIC MODULE ACTUATED BY SHAPE MEMORY ALLOYS. MODARES MECHANICAL ENGINEERING, 16(2), 253-263. SID. https://sid.ir/paper/178811/en

Vancouver: Copy

HADI ALIREZA, AKBARI HOSSEIN, ALIPOUR KHALIL. DESIGN, MANUFACTURING AND CONTROL OF A CONTINUUM ROBOTIC MODULE ACTUATED BY SHAPE MEMORY ALLOYS. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(2):253-263. Available from: https://sid.ir/paper/178811/en

IEEE: Copy

ALIREZA HADI, HOSSEIN AKBARI, and KHALIL ALIPOUR, “DESIGN, MANUFACTURING AND CONTROL OF A CONTINUUM ROBOTIC MODULE ACTUATED BY SHAPE MEMORY ALLOYS,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 2, pp. 253–263, 2016, [Online]. Available: https://sid.ir/paper/178811/en

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