Abstract
This paper presents a new technique of actuating a parallel platform manipulator using shape memory alloy (SMA). This is a type of smart materials that can attain a high strength-to-weight ratio, which makes them ideal for miniature application. The work is mainly to develop a new SMA actuator and then incorporating the actuator in building the parallel manipulator prototype. The SMA used in this study is a commercial NiTi wire. The SMA wire provides an actuating force that produces a large bending and end displacement. A 3-UPU (universal–prismatic–universal) parallel manipulator using linear SMA actuators was developed. The manipulator consists of a fixed platform, a moving platform and three SMA actuators. The manipulator workspace was specified based on the restrictions due to actuator strokes and joint angle limits. System identification techniques were used to model both heating and cooling processes. An ON/OFF control was performed and the results showed closeness in simulation and experimental results. This study showed that shape memory alloy actuated beam can successfully be used to provide linear displacement. The built prototype indicates the feasibility of using SMA actuators in parallel manipulators.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
