Hostname: page-component-586b7cd67f-vdxz6 Total loading time: 0 Render date: 2024-11-24T13:54:27.606Z Has data issue: false hasContentIssue false
  • English
  • Français

A novel differential shape memory alloy actuator for position control

Published online by Cambridge University Press:  09 March 2009

Robert B. Gorbet  and
R. Andrew Russell
Get access Rights & Permissions [Opens in a new window]

Summary

This paper discusses a novel design for a rotary differential NiTi shape memory alloy actuator, which incorporates a mobile heat sink. The new mechanism is described in detail, and its performance in a position control system is compared with that of the same actuator without heat sink. Experimental results are presented which show an improvement in actuator response time, as well as closed-loop bandwidth. The design of the mechanism gives enhanced performance, without the increased power consumption associated with fixed heat sinks.

Keywords

Position controlShape memory alloyMobile heat sinkRobot applications
Type
Articles
Information
Robotica , Volume 13 , Issue 4 , July 1995 , pp. 423 - 430
Copyright
Copyright © Cambridge University Press 1995

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Duerig, T.W., Melton, K.N., Stöckel, D. and Wayman, CM. (Eds.), Engineering Aspects of Shape Memory Alloys (Butterworth-Heinemann, Toronto, 1990).Google Scholar
2.Buehler, W.J., Gilfrich, J.V. and Wiley, R.C., “Effect of low-temperature phase changes on the mechanical properties of alloys near composition TiNi” J. Applied Physics 34(5) 1475–1477 (05, 1963).CrossRefGoogle Scholar
3.Schetky, L., “Shape memory effect alloys for robotic devices” Robotics Age 6(7) 13–17 (07, 1984).Google Scholar
4.Nakano, Y., Fujie, M. and Hosada, Y., “Hitachi's robot hand” Robotics Age 6(7) 18–20 (07, 1984).Google Scholar
5.Bergamasco, M., Salsedo, F. and Dario, P., “Shape memory alloy micromotors for direct-drive actuation of dexterous artificial hands” Sensors and Actuators, 17, 115–119 (1989).CrossRefGoogle Scholar
6.Furuya, Y. and Shimada, H., “Shape memory actuators for robotic applications” Engineering Aspects of Shape Memory Alloys (Butterworth-Heinemann, Toronto, 1990) pp. 338–355.CrossRefGoogle Scholar
7.Hashimoto, Minoru, Takeda, Masanori, Sagawa, Hirofumi, Chiba, Ichiro and Sato, Kimiko, “Application of shape memory alloy to robotic actuators” Robotic Systems 2(1), 3–25 (1985).Google Scholar
8.Bergamasco, M., Salsedo, F. and Dario, P., “A linear SMA motor as direct-drive robotic actuator” IEEE International Conference on Robotics and Automation (1989) pp. 618–623.Google Scholar
9.Madill, D.R., “Modelling and stability of a shape memory alloy position control system” Master's thesis (University of Waterloo, Waterloo, Canada, 1993).Google Scholar
10.Kuribayashi, Katsutoshi, “Improvement of the response of an SMA actuator using a temperature sensor” Int. J. Rob. Res. 10(1), 13–20 (02 1991).CrossRefGoogle Scholar