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.

[1]  Yoshihiko Nakamura,et al.  Shape-memory-alloy active forceps for laparoscopic surgery , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[2]  D. R. Madill,et al.  L/sub 2/-stability of a shape memory alloy position control system , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[3]  N. Troisfontaine,et al.  A hybrid actuator for articulated micro-grippers , 1970 .

[4]  Fumihito Arai,et al.  Micro mechatronics and micro actuators , 1996 .

[5]  Vincent Hayward,et al.  Design of shape memory alloy actuator with high strain and variable structure control , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[6]  Koji Ikuta,et al.  Micro/miniature shape memory alloy actuator , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[7]  K. Ikuta,et al.  Two dimensional mathematical model of shape memory alloy and intelligent SMA-CAD , 1993, [1993] Proceedings IEEE Micro Electro Mechanical Systems.

[8]  K. Kuribayashi.  A New Actuator of a Joint Mechanism Using TiNi Alloy Wire , 1986 .

[9]  Craig A. Rogers,et al.  Design of Shape Memory Alloy Actuators , 1992 .

[10]  R. A. Adey,et al.  Simulation and Design of Microsystems and Microstructures , 1996 .

[11]  K. Kuribayashi.  Millimeter-sized joint actuator using a shape memory alloy , 1989 .

[12]  David W. L. Wang,et al.  General stability criteria for a shape memory alloy position control system , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[13]  R. Andrew Russell,et al.  A novel differential shape memory alloy actuator for position control , 1995, Robotica.