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

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

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.

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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