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 language | English |
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| Title of host publication | 2012 Proceedings of SICE Annual Conference, SICE 2012 |
| Publisher | Society of Instrument and Control Engineers (SICE) |
| Pages | 1745-1750 |
| Number of pages | 6 |
| ISBN (Print) | 9781467322591 |
| Publication status | Published - Jan 1 2012 |
| Event | 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 - Akita, Japan Duration: Aug 20 2012 → Aug 23 2012 |
Publication series
| Name | Proceedings of the SICE Annual Conference |
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Other
| Other | 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 |
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| Country | Japan |
| City | Akita |
| Period | 8/20/12 → 8/23/12 |
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).