By Topic

Experimental design, development and visual-servoing of a shape memory alloy actuated finger

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
$31 $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

4 Author(s)
Kolyvas, E. ; Dept. of Electr. & Comput. Eng., Patras Univ., Greece ; Nikolakopoulos, G. ; Koveos, Y. ; Tzes, A.

In this paper an experimental study on the design, development and visual-servoing of a shape memory alloy (SMA) actuated finger is presented. The SMA have been utilized as tendons for the production of a satisfactory, in terms of workspace and actuation times, human-like actuated finger. This manipulator has two rotational degrees of freedom and its main objective is to control the position of the end-tip. The special characteristics and properties of the SMA have been taken under consideration and all inherent non-linearities and saturations have been embedded in the development modelling and control application. Decoupled PD-controllers provide the command input, while the sensory information is provided through a monoscopic vision system. This visual-servoing scheme drives the manipulator's tip at specified trajectory positions. The final construction is a lightweight, compact device, while the experimental results prove the efficacy and the usability of the overall design and implementation process.

Published in:

Industrial Technology, 2004. IEEE ICIT '04. 2004 IEEE International Conference on  (Volume:3 )

Date of Conference:

8-10 Dec. 2004