Design, Fabrication, and Control of a Rotary Manipulator driven by Twisted Shape Memory Alloy (SMA) WiresDesign, Fabrication, and Control of a Rotary Manipulator driven by Twisted Shape Memory Alloy (SMA) Wires
- Other Titles
- Design, Fabrication, and Control of a Rotary Manipulator driven by Twisted Shape Memory Alloy (SMA) Wires
- Authors
- 이길용; 이수연
- Issue Date
- Aug-2023
- Publisher
- 한국정밀공학회
- Keywords
- 형상기억합금; 회전 구동기; 매니퓰레이터; PID 제어; Shape memory alloy; Rotary actuator; Manipulator; PID control
- Citation
- 한국정밀공학회지, v.40, no.8, pp 665 - 673
- Pages
- 9
- Journal Title
- 한국정밀공학회지
- Volume
- 40
- Number
- 8
- Start Page
- 665
- End Page
- 673
- URI
- https://scholarworks.bwise.kr/kumoh/handle/2020.sw.kumoh/26426
- DOI
- 10.7736/JKSPE.023.039
- ISSN
- 1225-9071
2287-8769
- Abstract
- The objective of this study was to present a rotary manipulating system driven by a rotary actuator based on twisted shape memory alloy (SMA) wires. The rotary actuator was composed of two oppositely twisted SMA wires connecting a rotor and a stator through a shaft. Two oppositely twisted SMA wires could generate bidirectional rotary motions upon actuation of each twisted SMA wire corresponding to the direction against the twist direction of each SMA wire. A manipulator was designed and fabricated by integrating manipulating arms, the rotary actuator, and a Hall effect magnetic rotary encoder which could measure the angular position of the rotary motion. We modeled and characterized the manipulator upon application of a ramp current input to each twisted SMA wire. A proportional-integral-derivative (PID) controller was designed and implemented to control the proposed rotary manipulator. Reference angular position tracking performances of the manipulator were evaluated with a series of experiments.
- Files in This Item
- There are no files associated with this item.
- Appears in
Collections - Department of Mechanical Engineering > 1. Journal Articles
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.