文章基本信息

标题：Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping
本地全文：下载
作者：Alberto Borboni ; Francesco Aggogeri ; Rodolfo Faglia 等
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/55539
语种：English
出版社：SAGE Publications
摘要：A prototype of an automatic micropositioning system was developed. This prototype uses a shape memory alloy (SMA) actuator, a dedicated PI controller and a piece of software to command a desired motion profile for the actuator. The proposed micropositioning system is characterized by a 4 mm stroke, a 1 µm resolution and a 70 g nominal force and can be commanded directly from a personal computer and without human retroaction. The closed loop positioning resolution (1 µm) is obtained in spite of inaccurate system behaviour during its movement.
关键词：Micropositioning; Sma; Actuator; Gripping