Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping. (1st March 2013)

• Record Type: Journal Article
• Authors: Borboni, Alberto; Aggogeri, Francesco; Faglia, Rodolfo
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 3(2013)
• Publication Date: 2013-03-01
• Subjects: Micropositioning -- Sma -- Actuator -- Gripping; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/55539
• Languages: English
• ISSNs: 1729-8806

Abstract

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.