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
PublisherSociety of Instrument and Control Engineers (SICE)
Pages1745-1750
Number of pages6
ISBN (Print)9781467322591
Publication statusPublished - Jan 1 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

Publication series

NameProceedings of the SICE Annual Conference

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

All Science Journal Classification (ASJC) codes

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

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  • 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] (Proceedings of the SICE Annual Conference). Society of Instrument and Control Engineers (SICE).