Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping
Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping
复制标题
机器人抓取用纤维状微执行器的设计与分析
DOI：
10.5772/55539
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发表时间：
2013
影响因子：
2.3
通讯作者：
R. Faglia
中科院分区：
文献类型：
--
作者：
A. Borboni;F. Aggogeri;R. Faglia
开发了自动微定位系统的原型。该原型使用形状记忆合金 (SMA) 执行器、专用 PI 控制器和一个软件来命令执行器所需的运动曲线。所提出的微定位系统的特点是 4 毫米行程、1 微米分辨率和 70 克标称力，并且可以直接从个人计算机发出指令，无需人工干预。尽管系统在运动过程中表现不准确，但仍然获得了闭环定位分辨率（1 μm）。
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.