Design and Implementation of a Binary Redundant Manipulator With Cascaded Modules1-Reference-Cited by-同舟云学术

Design and Implementation of a Binary Redundant Manipulator With Cascaded Modules1

Published:2015-08-18 Issue:1 Volume:8 Page:
ISSN:1942-4302
Container-title:Journal of Mechanisms and Robotics
language:en
Short-container-title:

Author:

Tzorakoleftherakis Emmanouil¹,Mavrommati Anastasia²,Tzes Anthony³

Affiliation:

1. Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208-3111 e-mail:

2. Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208-3111

3. Department of Electrical and Computer Engineering, University of Patras, Rio 26500, Greece

Abstract

The subject of this paper is the design and implementation of a prototype snakelike redundant manipulator. The manipulator consists of cascaded modules eventually forming a macroscopically serial robot and is powered by shape memory alloy (SMA) wires. The SMAs (NiTi) act as binary actuators with two stable states and as a result, the repeatability of the manipulator's movement is ensured, alleviating the need for complex feedback sensing. Each module is composed of a customized spring and three SMA wires which form a tripod with three degrees of freedom (DOFs). Embedded microcontrollers networked with the I2C protocol activate the actuators of each module individually. In addition, we discuss certain design aspects and propose a solution that deals with the limited absolute stroke achieved by SMA wires. The forward and inverse kinematics of the binary manipulator are also presented and the tradeoff between maneuverability and computational complexity is specifically addressed. Finally, the functionality and maneuverability of this design are verified in simulation and experimentally.

Publisher

ASME International

Subject

Mechanical Engineering

Link

http://asmedigitalcollection.asme.org/mechanismsrobotics/article-pdf/doi/10.1115/1.4030372/6253072/jmr_008_01_011002.pdf

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