NDLI: Design of a Multi-Axis SMA Actuator Arrays Using Segmented Binary Control

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Cho, Kyu-Jin Asada, H. Harry
Copyright Year	2004
Abstract	A new approach of designing and controlling a multi-axis actuator system using segmented binary control (SBC) is presented. In SBC, Shape Memory Alloy (SMA) actuator wire is divided into multiple segments and their thermal states are controlled in a binary manner using thermoelectric modules. Two-dimensional array architecture for multi-axis SMA actuators is created using SBC. Similar to the biological muscle network, multi-axis SMA actuator wires can be combined flexibly with a two-dimensional segmentation method in order to activate multiple links of a skeletal robot structure in a coordinated manner. Ten-axis actuator is built using this method. Thermoelectric modules are laid on a substrate made of PCB board and SMA actuators are placed in between two substrate layers with a gap to allow the movement of the actuators. The actuator creates coordinated gross motion as well as independent fine movements with reduced number of control loops. The new actuator architecture will provide a novel actuator system forming a network of array actuators connected to a vast number of bone-like linkages.
Sponsorship	Dynamic Systems and Control Division
Starting Page	1353
Ending Page	1358
Page Count	6
File Format	PDF
ISBN	0791847063
DOI	10.1115/IMECE2004-62241
Volume Number	Dynamic Systems and Control, Parts A and B
Conference Proceedings	ASME 2004 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2004-11-13
Publisher Place	Anaheim, California, USA
Access Restriction	Subscribed
Subject Keyword	Design Linkages Actuators Image segmentation Shape memory alloys Muscle Bone Wire Robots
Content Type	Text
Resource Type	Article

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