By Topic

Segmentation theory for design of a multi-axis actuator array using segmented binary control

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kyu-Jin Cho ; Dept. of Mech. Eng., MIT, Cambridge, MA, USA ; H. H. Asada

In this paper, we present a segmentation theory for designing a multi-axis actuator array. This array uses artificial muscle actuators, i.e. shape memory alloys, to control multiple axes in a coordinated manner. The multi-axis actuator array uses segmented binary control (SBC), which is a method of controlling artificial muscle actuators in a digital manner. In SBC, actuators are segmented and each segment is controlled independently, instead of controlling the strain of the actuator as a whole. The advantage of using SBC is that it allows us to avoid the nonlinear properties of the actuator and to use a simple control for each segment. However, one problem of using SBC is the increased number of segments. The segmentation theory provides a basis for using coupled segments, or segments to be shared within the actuator array, along with independent segments, to control the multiple axes with reduced number of segments. A segmentation design procedure is developed based on the theory and the method is applied to an actuator array for driving a five-fingered robot hand capable of taking variety of postures.

Published in:

Proceedings of the 2005, American Control Conference, 2005.

Date of Conference:

8-10 June 2005