Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping

Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping

A prototype of an automatic micropositioning system was developed. This prototype uses a shape memory alloy (SMA) actuator, a dedicated PI controller and a piece of software to command a desired motion profile for the actuator. The proposed micropositioning system is characterized by a 4 mm stroke,...

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Bibliographic Details
Main Authors: Alberto Borboni, Francesco Aggogeri, Rodolfo Faglia
Format: Article
Language:English
Published: SAGE Publishing 2013-03-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/55539
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spelling doaj-1126546719704a36948235aa349032822020-11-25T03:20:34ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-03-011010.5772/5553910.5772_55539Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic GrippingAlberto Borboni0Francesco Aggogeri1Rodolfo Faglia2 Mechanical and Industrial Department, Università degli Studi di Brescia, Italy Mechanical and Industrial Department, Università degli Studi di Brescia, Italy Mechanical and Industrial Department, Università degli Studi di Brescia, ItalyA prototype of an automatic micropositioning system was developed. This prototype uses a shape memory alloy (SMA) actuator, a dedicated PI controller and a piece of software to command a desired motion profile for the actuator. The proposed micropositioning system is characterized by a 4 mm stroke, a 1 μm resolution and a 70 g nominal force and can be commanded directly from a personal computer and without human retroaction. The closed loop positioning resolution (1 μm) is obtained in spite of inaccurate system behaviour during its movement.https://doi.org/10.5772/55539
collection DOAJ
language English
format Article
sources DOAJ
author Alberto Borboni
Francesco Aggogeri
Rodolfo Faglia
spellingShingle Alberto Borboni
Francesco Aggogeri
Rodolfo Faglia
Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping
International Journal of Advanced Robotic Systems
author_facet Alberto Borboni
Francesco Aggogeri
Rodolfo Faglia
author_sort Alberto Borboni
title Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping
title_short Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping
title_full Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping
title_fullStr Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping
title_full_unstemmed Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping
title_sort design and analysis of a fibre-shaped micro-actuator for robotic gripping
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2013-03-01
description A prototype of an automatic micropositioning system was developed. This prototype uses a shape memory alloy (SMA) actuator, a dedicated PI controller and a piece of software to command a desired motion profile for the actuator. The proposed micropositioning system is characterized by a 4 mm stroke, a 1 μm resolution and a 70 g nominal force and can be commanded directly from a personal computer and without human retroaction. The closed loop positioning resolution (1 μm) is obtained in spite of inaccurate system behaviour during its movement.
url https://doi.org/10.5772/55539
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AT francescoaggogeri designandanalysisofafibreshapedmicroactuatorforroboticgripping
AT rodolfofaglia designandanalysisofafibreshapedmicroactuatorforroboticgripping
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