A new method for actuating parallel manipulators

Awad Khidir Elwaleed, Nik Abdullah Mohamed, Mohd. Jailani Mohd Nor, Mohd. Marzuki Mustafa

Research output: Contribution to journalArticle

9 Citations (Scopus)

Abstract

This paper presents a new technique of actuating a parallel platform manipulator using shape memory alloy (SMA). This is a type of smart materials that can attain a high strength-to-weight ratio, which makes them ideal for miniature application. The work is mainly to develop a new SMA actuator and then incorporating the actuator in building the parallel manipulator prototype. The SMA used in this study is a commercial NiTi wire. The SMA wire provides an actuating force that produces a large bending and end displacement. A 3-UPU (universal-prismatic-universal) parallel manipulator using linear SMA actuators was developed. The manipulator consists of a fixed platform, a moving platform and three SMA actuators. The manipulator workspace was specified based on the restrictions due to actuator strokes and joint angle limits. System identification techniques were used to model both heating and cooling processes. An ON/OFF control was performed and the results showed closeness in simulation and experimental results. This study showed that shape memory alloy actuated beam can successfully be used to provide linear displacement. The built prototype indicates the feasibility of using SMA actuators in parallel manipulators.

Original languageEnglish
Pages (from-to)593-599
Number of pages7
JournalSensors and Actuators, A: Physical
Volume147
Issue number2
DOIs
Publication statusPublished - 3 Oct 2008

Fingerprint

shape memory alloys
Shape memory effect
Manipulators
manipulators
Actuators
actuators
platforms
prototypes
Fixed platforms
wire
Wire
smart materials
Intelligent materials
system identification
high strength
strokes
constrictions
Identification (control systems)
Cooling
cooling

Keywords

  • Actuator
  • Control
  • Parallel manipulator
  • Shape memory alloy

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Instrumentation

Cite this

A new method for actuating parallel manipulators. / Elwaleed, Awad Khidir; Mohamed, Nik Abdullah; Mohd Nor, Mohd. Jailani; Mustafa, Mohd. Marzuki.

In: Sensors and Actuators, A: Physical, Vol. 147, No. 2, 03.10.2008, p. 593-599.

Research output: Contribution to journalArticle

Elwaleed, Awad Khidir ; Mohamed, Nik Abdullah ; Mohd Nor, Mohd. Jailani ; Mustafa, Mohd. Marzuki. / A new method for actuating parallel manipulators. In: Sensors and Actuators, A: Physical. 2008 ; Vol. 147, No. 2. pp. 593-599.
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