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Authors: Nicu George Bîzdoacă 1 ; Anca Petrişor 2 ; Elvira Bîzdoacă 1 ; Ilie Diaconu 1 and Sonia Degeratu 2

Affiliations: 1 Faculty of Automation,Computers and Electronics, University of Craiova, Romania ; 2 Faculty of Electromechanical Engineering, University of Craiova, Romania

ISBN: 978-989-8111-31-9

Keyword(s): Robotics, Shape memory alloy applications, Serial link, Fuzzy controller.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Robot Design, Development and Control ; Robotics and Automation

Abstract: A tentacle manipulator is a manipulator with a great flexibility, with a distributed mass and torque that can take any arbitrary shape. Technologically, such systems can be obtained by using a cellular structure for each element of the arm. Shape memory alloy actuation offers an interesting solution, using the shape transformation of the wire/structure in the moment of applying a thermal type transformation able to offer the martensitic temperature. In order to assure an efficient control of SMA actuator applied to inverted pendulum, a mathematical model and numerical simulation of the resulting model is required. Due a particular possibility SMA actuator connection, a modified dynamics for wire or tendon actuation is presented. For an efficient study a Simulink block set is developed (block for user configurable shape memory alloy material, configurable block for dynamics of single link robotic structure, block for user configurable wire/tendon actuation). As conventional control pos sibilities were explored, the fuzzy control structure applied in this paper, offer an improved response. A more compact SMA actuation is proposed and experimented. The results are commented. (More)

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Paper citation in several formats:
George Bîzdoacă N.; Petrişor A.; Bîzdoacă E.; Diaconu I.; Degeratu S. and (2008). SHAPE MEMORY ALLOY TENDONS ACTUATED TENTACLE ROBOTIC STRUCTURE - Models and Control.In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO, ISBN 978-989-8111-31-9, pages 77-80. DOI: 10.5220/0001490800770080

@conference{icinco08,
author={Nicu {George Bîzdoacă} and Anca Petrişor and Elvira Bîzdoacă and Ilie Diaconu and Sonia Degeratu},
title={SHAPE MEMORY ALLOY TENDONS ACTUATED TENTACLE ROBOTIC STRUCTURE - Models and Control},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,},
year={2008},
pages={77-80},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001490800770080},
isbn={978-989-8111-31-9},
}

TY - CONF

JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 3: ICINCO,
TI - SHAPE MEMORY ALLOY TENDONS ACTUATED TENTACLE ROBOTIC STRUCTURE - Models and Control
SN - 978-989-8111-31-9
AU - George Bîzdoacă, N.
AU - Petrişor, A.
AU - Bîzdoacă, E.
AU - Diaconu, I.
AU - Degeratu, S.
PY - 2008
SP - 77
EP - 80
DO - 10.5220/0001490800770080

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