Design, Fabrication, and Control of a Rotary Manipulator driven by Twisted Shape Memory Alloy (SMA) Wires
- Resource Type
- Article
- Authors
- 이길용; 이수연
- Source
- 한국정밀공학회지, 40(8), pp.665-673 Aug, 2023
- Subject
- 기계공학
- Language
- English
- ISSN
- 2287-8769
1225-9071
The objective of this study was to present a rotary manipulating system driven by a rotary actuator based on twisted shape memory alloy (SMA) wires. The rotary actuator was composed of two oppositely twisted SMA wires connecting a rotor and a stator through a shaft. Two oppositely twisted SMA wires could generate bidirectional rotary motions upon actuation of each twisted SMA wire corresponding to the direction against the twist direction of each SMA wire. A manipulator was designed and fabricated by integrating manipulating arms, the rotary actuator, and a Hall effect magnetic rotary encoder which could measure the angular position of the rotary motion. We modeled and characterized the manipulator upon application of a ramp current input to each twisted SMA wire. A proportional-integral-derivative (PID) controller was designed and implemented to control the proposed rotary manipulator. Reference angular position tracking performances of the manipulator were evaluated with a series of experiments.