IROS 2015 Paper Abstract


Paper ThAT15.3

Sheng, Jun (University of Maryland, College Park), Desai, Jaydev P. (University of Maryland)

A Novel Meso-Scale SMA-Actuated Torsion Actuator

Scheduled for presentation during the Regular session "New Actuators 1" (ThAT15), Thursday, October 1, 2015, 09:00−09:15, Saal A4

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords New Actuators, Smart Actuators, Joint/Mechanism Design


This paper presents our work on design, modeling, and control of a meso-scale shape memory alloy (SMA) actuated torsion actuator for miniature robots. This novel torsion actuator is bi-directionally activated by a pair of antagonistic SMA torsion springs through alternate Joule heating. First, we present the mechanical design and fabrication approach of this miniature actuator. Then, we present the torsion spring mechanical model, SMA constitutive model, and kinematic and dynamic models, followed by the derivation of the quasi-static model of the actuator. Finally, the dynamic properties are tested by step response and sinusoidal tracking tests. A model-based controller is designed and its performance is evaluated by experiments.



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