SHAPE MEMORY ALLOY TENDONS ACTUATED TENTACLE ROBOTIC STRUCTURE - Models and Control

Nicu George Bîzdoacă, Anca Petrişor, Elvira Bîzdoacă, Ilie Diaconu, Sonia Degeratu

2008

Abstract

A tentacle manipulator is a manipulator with a great flexibility, with a distributed mass and torque that can take any arbitrary shape. Technologically, such systems can be obtained by using a cellular structure for each element of the arm. Shape memory alloy actuation offers an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model is required. Due a particular possibility SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study a Simulink block set is developed (block for user configurable shape memory alloy material, configurable block for dynamics of single link robotic structure, block for user configurable wire/tendon actuation). As conventional control possibilities were explored, the fuzzy control structure applied in this paper, offer an improved response. A more compact SMA actuation is proposed and experimented. The results are commented.

Paper Citation

in Harvard Style

George Bîzdoacă N., Petrişor A., Bîzdoacă E., Diaconu I. and Degeratu S. (2008). SHAPE MEMORY ALLOY TENDONS ACTUATED TENTACLE ROBOTIC STRUCTURE - Models and Control . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 77-80. DOI: 10.5220/0001490800770080

in Bibtex Style

@conference{icinco08,
author={Nicu George Bîzdoacă and Anca Petrişor and Elvira Bîzdoacă and Ilie Diaconu and Sonia Degeratu},
title={SHAPE MEMORY ALLOY TENDONS ACTUATED TENTACLE ROBOTIC STRUCTURE - Models and Control},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={77-80},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001490800770080},
isbn={978-989-8111-31-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - SHAPE MEMORY ALLOY TENDONS ACTUATED TENTACLE ROBOTIC STRUCTURE - Models and Control
SN - 978-989-8111-31-9
AU - George Bîzdoacă N.
AU - Petrişor A.
AU - Bîzdoacă E.
AU - Diaconu I.
AU - Degeratu S.
PY - 2008
SP - 77
EP - 80
DO - 10.5220/0001490800770080