Shape memory alloy tube actuators inherently enable internal fluidic cooling for a robotic finger under force control

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dc.contributor.authorAdes, Craig J.
dc.contributor.authorDilibal, Savaş
dc.contributor.authorEngeberg, Erik D.
dc.date.accessioned2024-06-13T20:15:53Z
dc.date.available2024-06-13T20:15:53Z
dc.date.issued2020
dc.departmentFakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü
dc.description.abstractThis paper presents the design, control and evaluation of a novel robotic finger actuated by shape memory alloy (SMA) tubes which intrinsically afford an internal conduit for fluidic cooling. The SMA tubes are thermomechanically programmed to flex the robotic finger when Joule heated. A superelastic SMA plate provides a spring return motion to extend the finger when cooling liquid is pumped through the internal channel of the SMA tube actuators. The mechanical design and nonlinear force controller are presented for this unique robotic finger. Sinusoidal and step response experiments demonstrate excellent error minimization when operated below the bandwidth which was empirically determined to be 6 rad s-1. Disturbance rejection experiments are also performed to demonstrate the potential to minimize externally applied forces. This method of internal liquid cooling of Joule heated SMA tubes simultaneously increases the system bandwidth and expands the potential uses of SMA actuators for robotic applications. The results show that this novel robotic finger is capable of precise force control and has a high strength to weight ratio. The finger can apply a force of 4.35 N and has a mass of 30 g. Implementing this design into wearable prosthetic devices could enable lightweight, high strength applications previously not achievable.
dc.identifier.doi10.1088/1361-665X/ab931f
dc.identifier.issn0964-1726
dc.identifier.issue11
dc.identifier.pmid38745901
dc.identifier.scopus2-s2.0-85092934582
dc.identifier.scopusqualityQ1
dc.identifier.urihttps://doi.org/10.1088/1361-665X/ab931f
dc.identifier.urihttps://hdl.handle.net/11501/925
dc.identifier.volume29
dc.identifier.wosWOS:000575221300001
dc.identifier.wosqualityQ1
dc.indekslendigikaynakScopus
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakPubMed
dc.institutionauthorDilibal, Savaş
dc.institutionauthorid0000-0003-4777-7995
dc.language.isoen
dc.publisherIOP Publishing Ltd
dc.relation.ispartofSmart Materials and Structures
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectDistributed Parameter Systems
dc.subjectNonlinear Control
dc.subjectRobotic Finger
dc.subjectShape Memory Alloy
dc.titleShape memory alloy tube actuators inherently enable internal fluidic cooling for a robotic finger under force control
dc.typeArticle

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