Finger-like manipulator driven by antagonistic nickel-titanium shape memory alloy actuators

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dc.contributor.authorDilibal, Savaş
dc.contributor.authorEngeberg, Erik D.
dc.date.accessioned2024-06-13T20:18:42Z
dc.date.available2024-06-13T20:18:42Z
dc.date.issued2015
dc.departmentFakülteler, Mühendislik Fakültesi, Mekatronik Mühendisliği Bölümü
dc.descriptionInternational Conference on Advanced Robotics (ICAR) -- 27-31 July, 2015 -- Istanbul, Turkey
dc.description.abstractShape memory alloy (SMA) actuators generally have a fast response time when heated. However, the return stroke during cooling can be slow and has been a hindrance to the application of SMA actuators in different areas such as robotic hands. Thus, a novel finger-like antagonistic SMA actuator design is presented in this paper. By using different thermal shape setting processes, one SMA actuator was designed to take a curved shape when heated. This actuator was antagonistically coupled to a different actuator that took a straight shape when heated. Thus, alternately heating each actuator caused the finger- like manipulator to flex and extend rapidly. A comparison study was performed between the novel antagonistic design and a single actuator which showed that the both designs applied approximately the same force with the same velocity when flexing. However, the antagonistic design was able to extend, or open, more rapidly with statistical significance. This was demonstrated for 1.5mm, 1.9mm, and 3.0mm SMA actuator diameters.
dc.description.sponsorshipODTU METU ; Kadir Has Univ ; IEEE ; IEEE Robotics & Automation Soc ; Aselsan ; TAI ; ALDEBARAN ; TeknodroM ; FORD OTOSAN ; SABLAB Simulation ; ODTU TEKNOKENT ; MILVUS
dc.identifier.endpage157
dc.identifier.isbn9781467375092
dc.identifier.scopus2-s2.0-84957616316
dc.identifier.scopusqualityN/A
dc.identifier.startpage152
dc.identifier.urihttps://hdl.handle.net/11501/1507
dc.identifier.wosWOS:000380471000024
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.institutionauthorDilibal, Savaş
dc.institutionauthorid0000-0003-4777-7995
dc.language.isoen
dc.publisherIEEE
dc.relation.ispartofInternational Conference on Advanced Robotics (ICAR)
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectNickel-Titanium
dc.subjectRobotic Finger
dc.subjectShape Memory Alloys
dc.subjectSMA Actuator
dc.subjectAntagonastic SMA Manipulator
dc.titleFinger-like manipulator driven by antagonistic nickel-titanium shape memory alloy actuators
dc.typeConference Object

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