Mechatronics Design and Kinematic Analysis of SMA Spring Actuated Parallel Manipulator

Flexible parallel manipulators can be used as an orienting device because of their precise positioning ability and better stiffness. The flexibility to the manipulator induces challenges in the selection of actuator, sensors and control. The paper presents a novel mechatronics design of a flexible s...

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Bibliographic Details
Published in:Journal of physics. Conference series 2021-07, Vol.1969 (1), p.12011
Main Authors: Ranjith Pillai, R, Ganesan, Murali
Format: Article
Language:English
Subjects:
Actuators
Circuits
Closed loops
Electric contacts
End effectors
Kinematics
Manipulators
Mechatronics
Position sensing
Shape memory alloys
Stiffness
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Summary:Flexible parallel manipulators can be used as an orienting device because of their precise positioning ability and better stiffness. The flexibility to the manipulator induces challenges in the selection of actuator, sensors and control. The paper presents a novel mechatronics design of a flexible symmetric parallel manipulator with minimum number of actuators used as an orienting device. Shape memory alloy springs (SMA) are used as an actuator because of ease of integration and higher deflection. In order to avoid any contact type sensor which could affect the compliance of the manipulator, the position of SMA spring is calculated indirectly from the kinematic model with the end effector orientation data measured from IMU sensor. The complete experimental set up design including electrical and control circuitry is explained in detail in the work. Preliminary open loop test is conducted on the prototype to understand the SMA response to various current input and to verify the effectiveness of the kinematic model in the actuator length measurement. Closed loop control based on ON/OFF control is implemented in the controller and is tested for step input.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1969/1/012011