Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping

International Journal of Advanced Robotic Systems

关键词: Micropositioning;    Sma;    Actuator;    Gripping;   

DOI  :  10.5772/55539

学科分类：自动化工程

来源: InTech

【 摘 要 】

A prototype of an automatic micropositioning system was developed. This prototype uses a shape memory alloy (SMA) actuator, a dedicated PI controller and a piece of software to command a desired motion profile for the actuator. The proposed micropositioning system is characterized by a 4 mm stroke, a 1 μm resolution and a 70 g nominal force and can be commanded directly from a personal computer and without human retroaction. The closed loop positioning resolution (1 μm) is obtained in spite of inaccurate system behaviour during its movement.

【 授权许可】

CC BY