Hostname: page-component-7dd5485656-7jgsp Total loading time: 0 Render date: 2025-10-31T05:16:05.459Z Has data issue: false hasContentIssue false
  • English
  • Français

A shape memory alloy based tendon-driven actuation system for biomimetic artificial fingers, part II: modelling and control

Published online by Cambridge University Press:  27 August 2009

Gabriele Gilardi ,
Edmund Haslam ,
Vishalini Bundhoo  and
Edward J. Park
Gabriele Gilardi
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, BC, CanadaV8W 3P6
Edmund Haslam
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, BC, CanadaV8W 3P6
Vishalini Bundhoo
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, BC, CanadaV8W 3P6
Edward J. Park*
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, BC, CanadaV8W 3P6 Mechatronic Systems Engineering, School of Engineering Science, Simon Fraser University, 250 – 13450 102nd Avenue, Surrey, BC, CanadaV3T 0A3
*
*Corresponding author. E-mail: ed_park@sfu.ca
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, the dynamics and biomimetic control of an artificial finger joint actuated by two opposing one-way shape memory alloy (SMA) muscle wires that are configured in a double spring-biased agonist–antagonist fashion is presented. This actuation system, which was described in Part I, forms the basis for biomimetic tendon-driven flexion/extension and abduction/adduction of the artificial finger. The work presented in this paper centres on thermomechanical modelling of the SMA wire, including both major and minor hysteresis loops in the phase transformation model, and co-operative control strategy of the agonist–antagonist muscle pair using a pulse-width-modulated proportional-integral-derivation (PWM–PID) controller. Parametric analysis and identification are carried out based on both simulation and experimental results. The performance advantage of the proposed co-operative control is shown using the metacarpophalangeal joint of the artificial finger.

Keywords

Artificial fingerArtificial muscleShape memory alloyPhase transformationHysteresisPIDBiomimetic control

Information

Type
Article
Information
Robotica , Volume 28 , Issue 5 , September 2010 , pp. 675 - 687
Copyright
Copyright © Cambridge University Press 2009

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Bundhoo, V., Haslam, E., Birch, B. and Park, E. J., “A shape memory alloy based tendon-driven actuation system for biomimetic artificial fingers, part I: Design and evaluation,” Robotica 27 (1), 131–146 (2009).CrossRefGoogle Scholar
2.Waram, T., Actuator Design Using Shape Memory Alloys (TC Waram Publishing, Hamilton, ON, Canada, 1993).Google Scholar
3.McNichols, J. L. and Cory, J. S., “Thermodynamics of nitinol,” J. Appl. Phys. 61 (3), 972–984 (1987).CrossRefGoogle Scholar
4.Liang, C. and Rogers, C. A., “Design of shape memory alloy actuators,” J. Mech. Des. 114, 223–230 (1992).CrossRefGoogle Scholar
5.Elahinia, M. H. and Ashrafiuon, H., “Nonlinear control of a shape memory alloy actuated manipulator,” J. Vib. Acoust. 124, 566–575 (2002).CrossRefGoogle Scholar
6.Liang, C. and Rogers, C. A., “Design of shape memory alloy springs with applications in vibration control,” J. Vib. Acoust. 115, 129–135 (1993).CrossRefGoogle Scholar
7.Sofla, A. Y. N., Elzey, D. M. and Wadley, H. N. G., “Two-way antagonistic shape actuation based on the one-way shape memory effect,” J. Intell. Mater. Syst. Struct. 19 (9), 1017–1027 (2008).CrossRefGoogle Scholar
8.Yan, S., Liu, X., Xu, F. and Wang, J., “A gripper actuated by a pair of differential SMA springs,” J. Intell. Syst. Struct. 18, 459–466 (2007).Google Scholar
9.Kim, S. and Cho, M., “Numerical simulation of a double SMA wire actuator using the two-way shape memory effect of SMA,” Smart Mater. Struct. 16, 372–381 (2007).CrossRefGoogle Scholar
10.Singh, K., Sirohi, J. and Chopra, I., “An improved shape memory alloy actuator for rotor blade tracking,” J. Intell. Mater. Syst. Struct. 14, 767–786 (2003).CrossRefGoogle Scholar
11.Mosley, M. J. and Mavroidis, C., “Experimental nonlinear dynamics of a shape memory alloy wire bundle actuator,” J. Dyn. Syst. Meas. Control 123, 103–112 (2001).CrossRefGoogle Scholar
12.Song, G., “Design and control of a nitinol wire actuated rotary servo,” Smart Mater. Struct. 16, 1796–1801 (2007).CrossRefGoogle Scholar
13.Ashrafiuon, H., Mojtaba, M., and Elahinia, M. H., “Position control of a three-link shape memory alloy actuated robot,” J. Intell. Mater. Syst. Struct. 17, 381–392 (2006).CrossRefGoogle Scholar
14.Paiva, A. and Savi, M. A., “An overview of constitutive models for shape memory alloys,” Math. Probl. Eng. 2006, 1–30 (2005).CrossRefGoogle Scholar
15.De la Flor, S., Urbina, C. and Ferrando, F., “Constitutive model of shape memory alloys: Theoretical formulation and experimental validation,” Mater. Sci. Eng. A 427, 112–122 (2006).CrossRefGoogle Scholar
16.Tanaka, K., “A thermomechanical sketch of shape memory effect: One-dimensional tensile behaviour,” Res. Mech. 18, 251–263 (1986).Google Scholar
17.Mihalcz, I., “Fundamental characteristics and design method for nickel-titanium shape memory alloy,” Period. Politech. Ser. Mech. Eng. 45 (1), 75–86 (2001).Google Scholar
18.Dutta, S. M. and Fathi, H. G., “Differential hysteresis modeling of a shape memory alloy wire actuator,” IEEE/ASME Trans. Mechatronics 10 (2), 189–197 (2005).CrossRefGoogle Scholar
19.Bo, Z. and Lagoudas, D. C., “Thermomechanical modeling of polycrystalline SMAs under cyclic loading, part IV: Modeling of minor hysteresis loops,” Int. J. Eng. Sci. 37, 1205–1249 (1999).CrossRefGoogle Scholar
20.Choi, B., Lee, Y. and Choi, B., “Fast Preisach modeling method for shape memory alloy actuators using major hysteresis loops”, Smart Mater. Struct. 13, 1069–1080 (2004).CrossRefGoogle Scholar
21.Lienhard, J. H. IV and Lienhard, J. H. V, A Heat Transfer Textbook (Phlogiston Press, Cambridge, MA, 2008).Google Scholar
22.Song, G. and Ma, N., “Control of shape memory alloy actuators using pulse-width pulse-frequency (PWPF) modulation,” J. Intell. Mater. Syst. Struct. 14, 15–22 (2003).CrossRefGoogle Scholar
23.Price, A. D., Jnifene, A. and Naguib, H. E., “Design and control of a shape memory alloy based dexterous robot hand,” Smart Mater. Struct. 16, 1401–1414 (2007).CrossRefGoogle Scholar
24.Choi, S., “Position control of a single-link mechanism activated by shape memory alloy springs: Experimental results,” Smart Mater. Struct. 15, 51–58 (2006).CrossRefGoogle Scholar
25.Arai, K., Aramai, S. and Yanagisawa, K., “Continuous System Modeling of Shape Memory Alloy (SMA) for Control Analysis,” Proceedings of IEEE International Symposium on Micromechatronics and Human Science, Nagoya, Japan (1994) pp. 97–99.Google Scholar
26.Arai, K., Aramai, S. and Yanagisawa, K., “Feedback Linearization of SMA (shape memory alloy),” Proceedings of the 34th SICE Annual Conference (1995) pp. 519–522.Google Scholar
27.Kumagai, P., Hozian, A. and Kirkland, M., “Neuro-Fuzzy Model Based Feed-Back Controller for Shape Memory Alloy Actuators,” Proceedings of SPIE 3984 (2000) pp. 291– 299.Google Scholar
28.Beer, F. P., E Russel, J. and DeWolf, J. T., Mechanics of Materials (McGraw-Hill, New York, 2002).Google Scholar