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 |
|---|---|
| Title of host publication | 2012 Proceedings of SICE Annual Conference, SICE 2012 |
| Pages | 1745-1750 |
| Number of pages | 6 |
| Publication status | Published - 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 |
Other
| Other | 2012 51st Annual Conference on of the Society of Instrument and Control Engineers of Japan, SICE 2012 |
|---|---|
| Country | Japan |
| City | Akita |
| Period | 8/20/12 → 8/23/12 |
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All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Parallel system using V-shaped shape memory alloy actuator
AU - Ishibashi, Ryota
AU - Oda, Takahiko
AU - Tahara, Kenji
AU - Kino, Hitoshi
AU - Kojima, Akira
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84869459670&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84869459670&partnerID=8YFLogxK
M3 - Conference contribution
SN - 9781467322591
SP - 1745
EP - 1750
BT - 2012 Proceedings of SICE Annual Conference, SICE 2012
ER -