FUZZY CONTROL OF AN ARTIFICIAL FINGER ROBOT USING SHAPE MEMORY ALLOY ACTUATORS

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KHEIRIKHAH MOHAMMAD MAHDI; KHODAYARI ALIREZA; TATLARI MARYAM

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Paper Information

Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:8 Page(s): 0-0

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Title

FUZZY CONTROL OF AN ARTIFICIAL FINGER ROBOT USING SHAPE MEMORY ALLOY ACTUATORS

Author(s)

KHEIRIKHAH MOHAMMAD MAHDI | KHODAYARI ALIREZA | TATLARI MARYAM | Issue Writer Certificate

Keywords

SHAPE MEMORY ALLOYQ1

ARTIFICIAL FINGERQ1

SIMULATIONQ2

FUZZY CONTROLLERQ1

PROTOTYPED SAMPLEQ2

Abstract

SHAPE MEMORY ALLOY (SMA) wires are currently employed in robotics as actuators of prosthetic limbsand medical equipment due to advantages such as reducing the size in the application, high power-toweight ratio and elimination of complex transmission systems. In this paper, a fuzzy control system hasbeen designed and implemented for an ARTIFICIAL FINGER using the SMA actuators. This robotic finger hasbeen designed and modeled with three revolute joints and three SMA wires as the tendon in order foradduction of each phalange of the finger and torsional springs were used to restore them to their originalpositions. The dynamic model of the finger has been simulated in MATLAB/Simulation. Based on thesimulation results, optimal choices of parameters and system features have been obtained and aprototype of finger has been built and tested. Gains of the controllers are set so that the current appliedto SMA wires has minimum overshoot and the output of the system has minimal time to achievestability. The comparison between the SIMULATION results and the actual measured data show that thesimulated model is accurate.

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APA: Copy

KHEIRIKHAH, MOHAMMAD MAHDI, KHODAYARI, ALIREZA, & TATLARI, MARYAM. (2016). FUZZY CONTROL OF AN ARTIFICIAL FINGER ROBOT USING SHAPE MEMORY ALLOY ACTUATORS. MODARES MECHANICAL ENGINEERING, 16(8), 0-0. SID. https://sid.ir/paper/359160/en

Vancouver: Copy

KHEIRIKHAH MOHAMMAD MAHDI, KHODAYARI ALIREZA, TATLARI MARYAM. FUZZY CONTROL OF AN ARTIFICIAL FINGER ROBOT USING SHAPE MEMORY ALLOY ACTUATORS. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(8):0-0. Available from: https://sid.ir/paper/359160/en

IEEE: Copy

MOHAMMAD MAHDI KHEIRIKHAH, ALIREZA KHODAYARI, and MARYAM TATLARI, “FUZZY CONTROL OF AN ARTIFICIAL FINGER ROBOT USING SHAPE MEMORY ALLOY ACTUATORS,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 8, pp. 0–0, 2016, [Online]. Available: https://sid.ir/paper/359160/en

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