In this paper, we present our results of modeling and characterization of antagonistic SMA spring actuators for use in a MRI-compatible intracranial robot. We develop a theoretical model to describe the behavior of the SMA spring actuators based on the constitutive model of SMA. The model shows that temperature feedback can be used to control the spring displacement and hence the joint motion of the robot. Besides, since the SMA spring can be used as a regular helical spring, we can also estimate the recovery force of the SMA spring actuator based on its displacement. Experimental results match the theoretical model well which proves that temperature feedback can be used reliably to control the joint motion of the robot as well as estimate the recovery force of the SMA spring actuators.
- Dynamic Systems and Control Division
Characterization of Antagonistic SMA Spring Actuators for Use in a MRI-Compatible Intracranial Robot
Ho, M, & Desai, JP. "Characterization of Antagonistic SMA Spring Actuators for Use in a MRI-Compatible Intracranial Robot." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 3: Renewable Energy Systems; Robotics; Robust Control; Single Track Vehicle Dynamics and Control; Stochastic Models, Control and Algorithms in Robotics; Structure Dynamics and Smart Structures; Surgical Robotics; Tire and Suspension Systems Modeling; Vehicle Dynamics and Control; Vibration and Energy; Vibration Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 481-485. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8854
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