Development of a shape-memory-alloy micromanipulator based on integrated bimorph microactuators
This paper reports a novel structure of a shape-memory-alloy (SMA) micromanipulator with gripping mechanism. A featured integration of multiple SMA bimorph microactuators has been utilized to form a micromanipulator with three degrees of freedom. The design consists of two links (SMA sheets) and a g...
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| Main Authors: | , , |
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| Format: | Article |
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Elsevier Ltd
2016
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| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/69187/ http://dx.doi.org/10.1016/j.mechatronics.2016.05.009 |
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| Summary: | This paper reports a novel structure of a shape-memory-alloy (SMA) micromanipulator with gripping mechanism. A featured integration of multiple SMA bimorph microactuators has been utilized to form a micromanipulator with three degrees of freedom. The design consists of two links (SMA sheets) and a gripper at the end of the second joint. The overall dimensions of the micromanipulator are 33 mm × 9 mm × 3 mm. The displacement of each actuator is controlled by a heating circuit that generates a pulse-width modulation signal. Theoretical modeling of SMA actuators is studied and verified with simulation. The SMA micromanipulator is able to move in the x- and y-axis by 7.1 mm and 5.2 mm, respectively, resulting in a maximum displacement of 8.9 mm. The micro-gripper has a maximum opening gap between its fingers of 1.15 mm. The micromanipulator has a temporal response of 7.5 s and 9 s for its x- and y-axis. The maximum actuation force generated by the x- and y-axis was around 100 mN and 130 mN, respectively. The developed micromanipulator has been successfully used to move a small object. |
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