Technical Briefs

A New Manipulator Based on ISMAAs and TWUSMs

[+] Author and Article Information
Kai Yang1

College of Electrical and Electronic Engineering, Huazhong University of Science and Technology, Wuhan 430074, Chinayk@mail.hust.edu.cn

Chenglin Gu

College of Electrical and Electronic Engineering, Huazhong University of Science and Technology, Wuhan 430074, Chinaclgu@mail.hust.edu.cn


Corresponding author.

J. Mech. Des 131(11), 114502 (Oct 06, 2009) (3 pages) doi:10.1115/1.3211095 History: Received April 27, 2008; Revised June 24, 2009; Published October 06, 2009

Manipulators of high accuracy and flexibility call for very strict requirements when their actuating mechanisms are downsized at the millimeter scale, which opens up the investigation of several novel actuator technologies such as those relying on piezoelectrics and shape memory alloys. In order to implement the precise and flexible operations, a new manipulator driven by a traveling wave ultrasonic motor and two inserted shape memory alloy actuators is presented. The structure and mechanism of the manipulator is introduced. After suitable material is selected, the prototype of the manipulator is fabricated. Finally, the experiments of the prototype are carried out to prove the property of the manipulator.

Copyright © 2009 by American Society of Mechanical Engineers
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Figure 6

The step response curve

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Figure 5

The step response of frequency proportional control

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Figure 3

Prototype of the manipulator

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Figure 2

Exploded view of the prototype is illustrated

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Figure 1

Manipulator driven by the TWUSM and ISMAAs

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Figure 4

The relation between torque and angular velocity




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