{"title":"一种用于灵巧微爪的指骨间致动器","authors":"N. Troisfontaine, P. Bidaud, G. Morel","doi":"10.1109/ROBOT.1997.614408","DOIUrl":null,"url":null,"abstract":"This paper presents a shape memory alloy (SMA) actuator aimed to be integrated in the phalanx of a dexterous micro-gripper. Its original design mechanically decouples motion transmission from force transmission. After a brief discussion on the operating principles of the actuator, the kinematics of the mechanism and its general features are specified. A thermo-mechanical model of the SMA fibers dynamics is then derived from an experimental analysis. Based on this model, a rational design methodology is proposed for the actuator. The last part of the paper shows experimental results. A prototype has been developed using the proposed design methodology. The paper shows the open loop results of this device. Additionally, a position switching mode controller is designed to improve precision and robustness.","PeriodicalId":225473,"journal":{"name":"Proceedings of International Conference on Robotics and Automation","volume":"99 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1997-04-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"18","resultStr":"{\"title\":\"A new inter-phalangeal actuator for dexterous micro-grippers\",\"authors\":\"N. Troisfontaine, P. Bidaud, G. Morel\",\"doi\":\"10.1109/ROBOT.1997.614408\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a shape memory alloy (SMA) actuator aimed to be integrated in the phalanx of a dexterous micro-gripper. Its original design mechanically decouples motion transmission from force transmission. After a brief discussion on the operating principles of the actuator, the kinematics of the mechanism and its general features are specified. A thermo-mechanical model of the SMA fibers dynamics is then derived from an experimental analysis. Based on this model, a rational design methodology is proposed for the actuator. The last part of the paper shows experimental results. A prototype has been developed using the proposed design methodology. The paper shows the open loop results of this device. Additionally, a position switching mode controller is designed to improve precision and robustness.\",\"PeriodicalId\":225473,\"journal\":{\"name\":\"Proceedings of International Conference on Robotics and Automation\",\"volume\":\"99 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1997-04-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"18\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.1997.614408\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1997.614408","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A new inter-phalangeal actuator for dexterous micro-grippers
This paper presents a shape memory alloy (SMA) actuator aimed to be integrated in the phalanx of a dexterous micro-gripper. Its original design mechanically decouples motion transmission from force transmission. After a brief discussion on the operating principles of the actuator, the kinematics of the mechanism and its general features are specified. A thermo-mechanical model of the SMA fibers dynamics is then derived from an experimental analysis. Based on this model, a rational design methodology is proposed for the actuator. The last part of the paper shows experimental results. A prototype has been developed using the proposed design methodology. The paper shows the open loop results of this device. Additionally, a position switching mode controller is designed to improve precision and robustness.
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