Finger-Like Manipulator Driven by Antagonistic Nickel-Titanium Shape Memory Alloy Actuators

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dc.authoridDilibal, Savas/0000-0003-4777-7995;
dc.authorwosidDilibal, Savas/Q-3748-2017
dc.authorwosidDilibal, Savas/D-9245-2012
dc.contributor.authorDilibal, Savas
dc.contributor.authorEngeberg, Erik D.
dc.date.accessioned2024-06-13T20:18:42Z
dc.date.available2024-06-13T20:18:42Z
dc.date.issued2015
dc.departmentİstanbul Gedik Üniversitesien_US
dc.descriptionInternational Conference on Advanced Robotics (ICAR) -- JUL 27-31, 2015 -- Istanbul, TURKEYen_US
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.en_US
dc.description.sponsorshipODTU METU,Kadir Has Univ,IEEE,IEEE Robotics & Automation Soc,Aselsan,TAI,ALDEBARAN,TeknodroM,FORD OTOSAN,SABLAB Simulation,bama teknolo,ODTU TEKNOKENT,MILVUSen_US
dc.identifier.endpage157en_US
dc.identifier.isbn978-1-4673-7509-2
dc.identifier.scopus2-s2.0-84957616316en_US
dc.identifier.scopusqualityN/Aen_US
dc.identifier.startpage152en_US
dc.identifier.urihttps://hdl.handle.net/11501/1507
dc.identifier.wosWOS:000380471000024en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartofProceedings of the 17th International Conference on Advanced Robotics (Icar)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectNickel-Titaniumen_US
dc.subjectRobotic Fingeren_US
dc.subjectShape Memory Alloysen_US
dc.subjectSma Actuatoren_US
dc.subjectAntagonastic Sma Manipulatoren_US
dc.subjectDesignen_US
dc.subjectRoboten_US
dc.titleFinger-Like Manipulator Driven by Antagonistic Nickel-Titanium Shape Memory Alloy Actuatorsen_US
dc.typeConference Objecten_US

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