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To meet the needs of present-day robotics, a family of gripping flexible fingers has been designed. Each of them consists of a number of independent and flexible modules that can be assembled in different configurations. Each module consists of a body with a flexible central rod and three longitudinally positioned shape memory alloy (SMA) wires. Wh...
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Citations
... In recent years, there has been a growing interest in integrating smart materials, particularly shape memory alloys (SMAs), into robotic systems to enhance their performance and capabilities. Among SMAs, nickel-titanium (Ni-Ti) alloys stand out for their unique properties, including high energy density, biocompatibility, and shape memory effect, making them ideal candidates as actuators [1][2][3][4][5][6] in many applications in different fields, such as in aerospace [7][8][9][10][11], biomedicine [12][13][14][15][16][17], wearables [18][19][20][21], micro-systems [22][23][24][25], and robotics [26][27][28][29][30][31][32]. There are not many works in the literature regarding manipulators with parallel architecture with SMA actuators. ...
... Given the actual position of point P and the force F exerted by the spring, to calculate the forces F , F , F exerted by the three actuators, the system equation in (26) has to be solved: ...
... Given the actual position of point P and the force F exerted by the spring, to calculate the forces F 1 , F 2 , F 3 exerted by the three actuators, the system equation in (26) has to be solved: ...
This paper presents the design and analysis of a novel 3-degree-of-freedom (3-DOF) parallel manipulator equipped with self-sensing Ni-Ti (Nitinol) actuators. The manipulator's architecture and mechanical design are elucidated, emphasizing the integration of Nitinol actuators. The self-sensing technique implemented in a previous work was extended to a 20 mm actuator length, and the actuator was used to design the 3-DOF manipulator. Kinematic analyses were conducted to evaluate the manipulator's performance under various operating conditions. A dynamic model was implemented for the dynamic dimensioning of the actuators, which work synergistically with a bias spring. The manipulator was realized, and a control strategy was implemented. Experimental tests, although documenting some positioning accuracy issues, show the efficacy and potential applications of the proposed manipulator in robotics and automation systems, highlighting the advantages of self-sensing Nitinol actuators in small parallel manipulator designs.
... In recent years, there has been a growing interest in integrating smart materials, particularly shape memory alloys (SMAs), into robotic systems to enhance their performance and capabilities. Among SMAs, nickel-titanium (Ni-Ti) alloys stand out for their unique properties, including high energy density, biocompatibility, and shape memory effect, making them ideal candidates as actuators [1][2][3][4][5][6][7] in many applications in different fields, such as aerospace [8][9][10][11][12], biomedical [13][14][15][16][17][18], wearables [19][20][21][22], micro-systems [23][24][25][26], robotics [27][28][29][30][31][32][33][34]. There are not many works in the literature regarding manipulators with parallel architecture with SMA actuators. ...
This paper presents the design and analysis of a novel 3-degree-of-freedom (3-DOF) parallel ma-nipulator equipped with self-sensing Ni-Ti (Nitinol) actuators. The manipulator's architecture and mechanical design are elucidated, emphasizing the integration of Nitinol actuators. The self-sensing technique implemented in a previous work was extended to a 20 mm actuator length, and the actuator was used to design the 3 DOF manipulator. Kinematic analyses were conducted to eval-uate the manipulator's performance under various operating conditions. A dynamic model was implemented for the dynamic dimensioning of the actuators, which work synergistically with a bias spring. The manipulator was realized, and a control strategy was implemented. Experimental tests, although documenting some positioning accuracy issues, show the efficacy and potential applica-tions of the proposed manipulator in robotics and automation systems, highlighting the advantages of self-sensing Nitinol actuators in small parallel manipulator designs.
... Many works in the scientific literature propose using SMA as actuators [1][2][3][4][5][6][7]. Many scientific works concern their applications in many fields, such as microsystems [8][9][10][11], robotics [12][13][14][15][16][17][18][19], biomedical [20][21][22][23][24][25], wearables [26][27][28][29], and aerospace [30][31][32][33][34]. ...
This paper illustrates an experimental activity for the closed-loop position control of an actuator made using shape memory alloy (SMA) wire. A solution with the self-sensing effect was implemented to miniaturize the systems, i.e., without external sensors. A proportional control algorithm was initially used, demonstrating the idea's feasibility; the wire can behave simultaneously as an actuator and sensor. An experimental investigation was subsequently conducted for the optimization of the developed actuator. As for the material, a Flexinol wire, Ni-Ti alloy, with a diameter of 0.150 mm and a length of 200 mm, was used. Preliminarily, characterization of the SMA wire at constant and variable loads was carried out; the characteristics detected were elongation vs. electric current and elongation vs. electrical resistance. The control system is PC based with a data acquisition card (DAQ). A drive board was designed and built to read the wire's electrical resistance and power it by pulse width modulation (PWM). A notable result is that the actuator works with good precision and in dynamic conditions, even when it is called to support a load up to 65% different from that for which the electrical resistance-length correlation has previously been experimentally obtained, on which the control is based. This opens up the possibility of using the actuator in a counteracting configuration with a spring, which makes hardware implementation and control management simple.
... Many works in the scientific literature propose using SMA as actuators [1][2][3][4][5][6][7]. Many scientific works concern their applications in many fields, such as micro-systems [8][9][10][11], robotics [12][13][14][15][16][17][18][19], biomedical [20][21][22][23][24][25], wearables [26][27][28][29], aerospace [30][31][32][33][34]. ...
This paper illustrates an experimental activity for the closed-loop position control of an actuator made using shape memory alloy (SMA) wire. A solution with the self-sensing effect was implemented to miniaturize the systems, i.e., without external sensors. A proportional control algorithm was initially used, demonstrating the idea's feasibility: the wire can behave simultaneously as an actuator and sensor. An experimental investigation was subsequently conducted for the optimization of the developed actuator. As for the material, a Flexinol wire, Ni-Ti alloy, with a diameter of 0.150 mm and a length of 200 mm, was used. Preliminarily, a characterization of the SMA wire at constant and variable loads was carried out: the characteristics detected are elongation vs. electric current and elongation vs. electrical resistance. The control system is PC-based with a data acquisition card (DAQ). A drive board has been designed and built to read the wire's electrical resistance and power it by pulse width modulation (PWM). A notable result is that the actuator works with good precision and in dynamic conditions, even when it is called to support a load up to 65% different from that for which the electrical resistance-length correlation has previously been experimentally obtained, on which the control is based. This opens up the possibility of using the actuator in a counteracting configuration with a spring, which makes hardware implementation and control management simple.
... Many works in the scientific literature propose using SMA as actuators [1][2][3][4][5][6][7]. Many scientific works concern their applications in many fields, such as micro-systems [8][9][10][11], robotics [12][13][14][15][16][17][18][19], biomedical [20][21][22][23][24][25], wearables [26][27][28][29], aerospace [30][31][32][33][34]. ...
This paper illustrates an experimental activity for the closed-loop position control of an actuator made using shape memory alloy (SMA) wire. A solution with the self-sensing effect was implemented to miniaturize the systems, i.e., without external sensors. A proportional control algorithm was initially used, demonstrating the idea's feasibility: the wire can behave simultaneously as an actuator and sensor. An experimental investigation was subsequently conducted for the optimization of the developed actuator. As for the material, a Flexinol wire, Ni-Ti alloy, with a diameter of 0.150 mm and a length of 200 mm, was used. Preliminarily, a characterization of the SMA wire at constant and variable loads was carried out: the characteristics detected are elongation vs. electric current and elongation vs. electrical resistance. The control system is PC-based with a data acquisition card (DAQ). A drive board has been designed and built to read the wire's electrical resistance and power it by pulse width modulation (PWM). A notable result is that the actuator works with good precision and in dynamic conditions, even when it is called to support a load up to 65% different from that for which the electrical resistance-length correlation has previously been experimentally obtained, on which the control is based. This opens up the possibility of using the actuator in a counteracting configuration with a spring, which makes hardware implementation and control management simple.
... There have been many different kinds of robotic applications. Mainly they are categorized as walking (Peng et al. 2020;Mao et al. 2019), swimming (Almubarak et al. 2020Song et al. 2016) and grasping robots (Lee et al. 2019a;Maffiodo and Raparelli 2019;Lu et al. 2019). They are mainly being used for having compliant and soft actuation. ...
... On the other hand, for human finger like joint structures it is possible to control the angles (DeLaurentis et al. 2000;Laurentis and Mavroidis 2002;Andrianesis and Tzes 2015;Bundhoo et al. 2009;Gilardi et al. 2010;Ali et al. 2020). Maffiodo and Raparelli (2019) have developed four flexible fingers based on SMA actuation modules. Lee et al. (2019a) have developed long SMA tendon-based soft robotic actuators and implementation as a soft gripper. ...
In this research a biologically inspired finger-like mechanism similar to human musculoskeletal system is developed based on Shape Memory Alloys (SMAs). SMA actuators are inspiring the design of a modular finger part with compact and compliant actuation. A three-segmented finger-like mechanism is designed and fabricated. This mechanism is composed of six bending Shape Memory Alloy (SMA) actuators. As a result, our finger mechanism is compact and compliant. The insider three SMA actuators are used for finger flexion while the outsider three SMA actuators are for extension. Each segment of this mechanism can be bent and/or extended independently by actuating a corresponding bending SMA actuator. Furthermore, full bending motion can be achieved by applying coordinated control of the three SMA actuators. Toward this goal a mathematical model of the SMA combined finger has been developed. The developed mathematical model is then used to design a proportional-derivative controller for control compliant actuation of the finger-mechanism. The performance of this mechanism has been experimentally evaluated. Our experimental results verify that the SMA-based finger module can achieve the desired postures similar to a human finger.
... A specific case study of application of design results is discussed referring to the profiles of two straight bevel gears in a biomedical application for a new laparoscopic robotic system. Paper [8] presents finger designs consisting of a body with a flexible central rod and three longitudinally positioned shape memory alloy wires. This paper introduces a mathematical model for the design and discusses results of experimental tests on three prototypes different materials. ...
This Special Issue is aimed to promote and circulate recent developments and achievements in the field of Mechanism and Machine Science coming from the Italian community with international collaborations and ranging from theoretical contributions to experimental and practical applications [...]
... In the field of intelligent manufacturing, micro-displacement and microactuation technology with an actuation stroke of less than 1mm and a resolution of less than 1µm has a wide range of applications [1,2]. At present, there are some functional materials used in the field of microactuation technology such as piezoelectric materials, shape memory alloys, and giant magnetostrictive material [3][4][5][6][7]. As a new type of functional material, giant magnetostrictive material have some advantages of a strong magnetostrictive effect, a high electromechanical coupling coefficient, high response speed, noncontact drive, and so on, and they are widely used in aerospace, precision control, and intelligent manufacturing fields. ...
Giant magnetostrictive actuators (GMA) driven by giant magnetostrictive material (GMM) has some advantages such as a large strain, high precision, large driving force, fast response, high reliability, and so on, and it has become the research hotspot in the field of microdrives. Research shows there is a nonlinear, intrinsic relationship between the output signal and the input signal of giant magnetostrictive actuators because of the strong coupling characteristics between the machine, electromagnetic field, and heat. It is very complicated to construct its nonlinear eigenmodel, and it is the basis of the practical process of giant magnetostrictive material to construct its nonlinear eigenmodel. Aiming at the design of giant magnetostrictive actuators, the magnetization model based on a free-energy hysteresis model has been deeply researched, constructed, and put forward by Smith, which combines Helmholtz–Gibbs free energy and statistical distribution theory, to simulate the hysteresis model at medium or high driving strengths. Its main input and output parameters include magnetic field strength, magnetization, and mechanical strain. Then, numerical realization and verification of the magnetization model are done by the Gauss–Legendre integral discretization method. The results show that the magnetization model and its numerical method are correct, and the research results provide a theoretical basis for the engineering application of giant magnetostrictive material and optimized structure of giant magnetostrictive material actuators, which have an important practical application value.
