Lightweight robotic arm actuated by shape memory alloy (SMA) wires.

Quintanar-Guzmán, Serket; Kannan, Somasundar; Olivares-Mendez, Miguel A.; Voos, Holger

Abstract

The current paper discusses the design, modeling and control of a Light weight robotic arm actuated by Shape Memory Alloy (SMA) actuators, usable for applications such as Aerial Manipulator. Compared to servo motor based robotic arm the proposed design has an added advantage of light weight and high force to mass ratio, but further introduces the problem of nonlinearities such as Hysteresis into the system. A nonlinear dynamic model of the hysteretic robotic arm is systematically developed to perform closed loop simulations. A Joint Space control is performed using Variable Structure Control and the closed loop performance is successfully verified by simulation studies.

Citation

QUINTANAR-GUZMÁN, S., KANNAN, S., OLIVARES-MENDEZ, M.A. and VOOS, H. 2016. Lightweight robotic arm actuated by shape memory alloy (SMA) wires. In Proceedings of the 8th International conference on electronics, computers and artificial intelligence 2016 (ECAI 2016), 30 June - 02 July 2016, Ploiesti, Romania. Piscataway: IEEE [online], pages 1-6. Available from: https://doi.org/10.1109/ECAI.2016.7861065

• Conference Name: 8th International conference on electronics, computers and artificial intelligence 2016 (ECAI 2016)
• Conference Location: Ploiesti, Romania
• Start Date: Jun 30, 2016
• End Date: Jul 2, 2016
• Acceptance Date: May 1, 2016
• Online Publication Date: Jul 2, 2016
• Publication Date: Feb 23, 2017
• Deposit Date: Nov 8, 2022
• Publicly Available Date: Nov 8, 2022
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• ISBN: 9781509020447
• DOI: https://doi.org/10.1109/ECAI.2016.7861065
• Keywords: Manipulators; Shape memory alloys; Wires; Computers; Artificial intelligence; Gallium
• Public URL: https://rgu-repository.worktribe.com/output/1279799
• Publisher URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85016194175&doi=10.1109%2fECAI.2016.7861065&partnerID=40&md5=07dc18734a3bdee218b97856b5902ca3