Parallel system using V-shaped shape memory alloy actuator

Ryota Ishibashi, Takahiko Oda, Kenji Tahara, Hitoshi Kino, Akira Kojima

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

This paper proposed a type of tendon driven system using V-shaped SMA (shape-memory-alloy) actuator. In the proposed system, SMA actuators are bended at the end effector and the bended angles are controllable. Thus, the stiffness of the system can be adjusted by the bended angles. In addition, to control the end effector to the desired position, we developed a position control method based on the internal force using only the geometric constraints of the system. The validity of the proposed method was examined by some experiments.

Original languageEnglish
Title of host publication2012 Proceedings of SICE Annual Conference, SICE 2012
Pages1745-1750
Number of pages6
Publication statusPublished - 2012
Event2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan
Duration: Aug 20 2012Aug 23 2012

Other

Other2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012
CountryJapan
CityAkita
Period8/20/128/23/12

Fingerprint

End effectors
Shape memory effect
Actuators
Tendons
Position control
Stiffness
Experiments

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications

Cite this

Ishibashi, R., Oda, T., Tahara, K., Kino, H., & Kojima, A. (2012). Parallel system using V-shaped shape memory alloy actuator. In 2012 Proceedings of SICE Annual Conference, SICE 2012 (pp. 1745-1750). [6318735]

Parallel system using V-shaped shape memory alloy actuator. / Ishibashi, Ryota; Oda, Takahiko; Tahara, Kenji; Kino, Hitoshi; Kojima, Akira.

2012 Proceedings of SICE Annual Conference, SICE 2012. 2012. p. 1745-1750 6318735.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Ishibashi, R, Oda, T, Tahara, K, Kino, H & Kojima, A 2012, Parallel system using V-shaped shape memory alloy actuator. in 2012 Proceedings of SICE Annual Conference, SICE 2012., 6318735, pp. 1745-1750, 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012, Akita, Japan, 8/20/12.
Ishibashi R, Oda T, Tahara K, Kino H, Kojima A. Parallel system using V-shaped shape memory alloy actuator. In 2012 Proceedings of SICE Annual Conference, SICE 2012. 2012. p. 1745-1750. 6318735
Ishibashi, Ryota ; Oda, Takahiko ; Tahara, Kenji ; Kino, Hitoshi ; Kojima, Akira. / Parallel system using V-shaped shape memory alloy actuator. 2012 Proceedings of SICE Annual Conference, SICE 2012. 2012. pp. 1745-1750
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