Design of a 3-DOF Parallel Mechanism with Shape Memory Alloy Actuators.

• Main Author: Mohd. Azlan B. Zamahari, Mohd. Azlan
• Format: Final Year Project
• Language: English
• Published: Universiti Teknologi Petronas 2012
• Subjects: TJ Mechanical engineering and machinery
• Online Access: http://utpedia.utp.edu.my/5505/1/Dissertation%20Mohd%20Azlan%20%28ME%29.pdf; http://utpedia.utp.edu.my/5505/

This research is a study on the application of Shape Memory Alloy (SMA) as actuators in a 3-DOF parallel manipulator. The objectives of the project include the designing process of the 3-DOF manipulator, developing a control mechanism for the SMA actuators and also performing analysis on the finished prototype. The control strategy chosen is using Arduino programmable microcontroller to produce Pulse Width Modulation signal (PWM) which is the most ideal control strategy for a small scale prototype. The SMA actuator design and dimension is also displayed in the discussion section and the SMA wire selected is Flexinol by Dynalloy Inc. The research covers the designing process, modeling and up until the fabrication process of the 3-DOF parallel manipulator.