Workspace analysis and performance of a binary actuated parallel manipulator with flexural joints

2003 ◽  
Vol 217 (3) ◽  
pp. 313-330 ◽  
Author(s):  
E Ottaviano ◽  
G Carbone ◽  
M Ceccarelli
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Parallel Manipulator ◽  
Mechanical Design ◽  
Parallel Architecture ◽  
Workspace Analysis ◽  
Position And Orientation ◽  
And Performance ◽  
Direct Kinematics ◽  
Flexural Joints

In this paper the design of a miniaturized parallel architecture is investigated in terms of basic performances concerning mobility and workspace characteristics. The miniature requirements have been achieved with a milli-scaled parallel manipulator requiring flexural joints and binary actuation with shape memory alloy wires or small pneumatic pistons. The mechanical design is analysed by considering the mobility of the flexural joints in order to size them and model the kinematics of the joints. The reachability is analysed through a suitable formulation of the direct kinematics by also taking into account binary actuation. Workspace performance has been determined in terms of position and orientation capabilities.

3D PRINTED HEXAPOD ROBOT ACTUATED BY SHAPE MEMORY ALLOY SPRINGS: DESIGN AND PERFORMANCE ANALYSIS

2021 ◽  
Author(s):  
Edilberto Alves de Abrantes Júnior ◽  
Augusto Figueiredo ◽  
Carlos Jose de Araujo ◽  
Raimundo Duarte
Keyword(s):  
Performance Analysis ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Hexapod Robot ◽  
3D Printed ◽  
And Performance

Structural fatigue and fracture of shape memory alloy actuators: Current status and perspectives

2021 ◽  
pp. 1045389X2110572
Author(s):  
Md Mehedi Hasan ◽  
Theocharis Baxevanis
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Current Status ◽  
Structural Fatigue ◽  
Sma Actuators ◽  
Empirical Relations ◽  
Fatigue And Fracture ◽  
And Performance ◽  
Commercial Applications ◽  
Crack Growth Rates

Shape Memory Alloy (SMA)-actuators are efficient, simple, and robust alternatives to conventional actuators when a small volume and/or large force and stroke are required. The analysis of their failure response is critical for their design in order to achieve optimum functionality and performance. Here, (i) the existing knowledge base on the fatigue and overload fracture response of SMAs under actuation loading is reviewed regarding the failure micromechanisms, empirical relations for actuation fatigue life prediction, experimental measurements of fracture toughness and fatigue crack growth rates, and numerical investigations of toughness properties and (ii) future developments required to expand the acquired knowledge, enhance the current understanding, and ultimately enable commercial applications of SMA-actuators are discussed.

Shape Memory Alloys in Automotive Applications

2014 ◽  
Vol 663 ◽  
pp. 248-253 ◽  
Author(s):  
Jaronie Mohd Jani ◽  
Martin Leary ◽  
Aleksandar Subic
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory Alloys ◽  
Shape Memory ◽  
External Force ◽  
Active Element ◽  
Mechanical Design ◽  
Competitive Market ◽  
Automotive Applications ◽  
Market Prices ◽  
Sma Actuators

Shape memory alloy (SMA) actuators have drawn much attention and interest due to their unique and superior properties, and are expected to be equipped in many modern vehicles at competitive market prices. The key advantage is that SMA actuators do not require bulky and complicated mechanical design to function, where the active element (e.g. SMA wire or spring) can be deformed by applying minimal external force and will retain to their previous form when subjected to certain stimuli such as thermomechanical or magnetic changes. This paper describes the SMA attributes that make them ideally suited as actuators in automotive applications and to address their limitations, feasibilities and prospects.

Control of an innovative super-capacitor-powered shape-memory-alloy actuated accumulator for blowout preventer

2017 ◽  
Vol 31 (01) ◽  
pp. 1650426 ◽  
Author(s):  
Jian Chen ◽  
Peng Li ◽  
Gangbing Song ◽  
Zhang Ren
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Mechanical Design ◽  
Current Drive ◽  
System Response ◽  
Cerebellar Model Articulation Controller ◽  
Super Capacitor ◽  
Large Current ◽  
Blowout Preventer ◽  
Nonlinear Nature

The design of a super-capacitor-powered shape-memory-alloy (SMA) actuated accumulator for blowout preventer (BOP) presented in this paper featured several advantages over conventional hydraulic accumulators including instant large current drive, quick system response and elimination of need for the pressure conduits. However, the mechanical design introduced two challenges, the nonlinear nature of SMA actuators and the varying voltage provided by a super capacitor, for control system design. A cerebellar model articulation controller (CMAC) feedforward plus PID controller was developed with the aim of compensation for these adverse effects. Experiments were conducted on a scaled down model and experimental results show that precision control can be achieved with the proposed configurations and algorithms.

Orientation Workspace Analysis of a Novel 3SPS+1PS Symmetrical Parallel Manipulator Based on Unit Quaternion

2011 ◽  
Vol 201-203 ◽  
pp. 1849-1853
Author(s):  
Jing Li Yu ◽  
Gang Cheng ◽  
Shuai Zhang ◽  
De Kun Zhang
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Unit Quaternion ◽  
Structure Characteristics ◽  
Workspace Analysis ◽  
Moving Platform ◽  
Position And Orientation ◽  
4 Degrees Of Freedom ◽  
Orientation Workspace

For a novel 3SPS+1PS parallel manipulator with 4 degrees of freedom including three rotations and one translation, the formulae for solving the inverse kinematics equations are derived based on quaternion method. Unit quaternion is used to represent the position and orientation of moving platform, and the singularities caused by Euler angles are avoided. Combining the topological structure characteristics of the parallel manipulator, it only has three rotations when its moving platform is at a given translation position. Based on the inverse position/pose equations and the all the constraints of the parallel manipulator, the discrete algorithm for the orientation workspaces of 3SPS+1PS parallel manipulator where the moving platform is at some different given translation positions are designed. The research builds the theoretical basis for optimizing the orientation workspace with given position.

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