Design and implementation of a binary redundant manipulator with cascaded modules

Emmanouil Tzorakoleftherakis; Anastasia Mavrommati; Anthony Tzes

doi:10.1115/1.4030372

Design and implementation of a binary redundant manipulator with cascaded modules

Emmanouil Tzorakoleftherakis, Anastasia Mavrommati, Anthony Tzes

Research output: Contribution to journal › Article › peer-review

Abstract

The subject of this paper is the design and implementation of a prototype snakelike redundant manipulator. The manipulator consists of cascaded modules eventually forming a macroscopically serial robot and is powered by shape memory alloy (SMA) wires. The SMAs (NiTi) act as binary actuators with two stable states and as a result, the repeatability of the manipulator's movement is ensured, alleviating the need for complex feedback sensing. Each module is composed of a customized spring and three SMA wires which form a tripod with three degrees of freedom (DOFs). Embedded microcontrollers networked with the I²C protocol activate the actuators of each module individually. In addition, we discuss certain design aspects and propose a solution that deals with the limited absolute stroke achieved by SMA wires. The forward and inverse kinematics of the binary manipulator are also presented and the tradeoffbetween maneuverability and computational complexity is specifically addressed. Finally, the functionality and maneuverability of this design are verified in simulation and experimentally.

Original language	English (US)
Article number	011002
Journal	Journal of Mechanisms and Robotics
Volume	8
Issue number	1
DOIs	https://doi.org/10.1115/1.4030372
State	Published - 2016

Keywords

Binary actuators
Kinematics
Macroscopically serial
Redundancy
Robotic manipulator
Shape memory alloys

ASJC Scopus subject areas

Mechanical Engineering

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10.1115/1.4030372

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title = "Design and implementation of a binary redundant manipulator with cascaded modules",

abstract = "The subject of this paper is the design and implementation of a prototype snakelike redundant manipulator. The manipulator consists of cascaded modules eventually forming a macroscopically serial robot and is powered by shape memory alloy (SMA) wires. The SMAs (NiTi) act as binary actuators with two stable states and as a result, the repeatability of the manipulator's movement is ensured, alleviating the need for complex feedback sensing. Each module is composed of a customized spring and three SMA wires which form a tripod with three degrees of freedom (DOFs). Embedded microcontrollers networked with the I2C protocol activate the actuators of each module individually. In addition, we discuss certain design aspects and propose a solution that deals with the limited absolute stroke achieved by SMA wires. The forward and inverse kinematics of the binary manipulator are also presented and the tradeoffbetween maneuverability and computational complexity is specifically addressed. Finally, the functionality and maneuverability of this design are verified in simulation and experimentally.",

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AB - The subject of this paper is the design and implementation of a prototype snakelike redundant manipulator. The manipulator consists of cascaded modules eventually forming a macroscopically serial robot and is powered by shape memory alloy (SMA) wires. The SMAs (NiTi) act as binary actuators with two stable states and as a result, the repeatability of the manipulator's movement is ensured, alleviating the need for complex feedback sensing. Each module is composed of a customized spring and three SMA wires which form a tripod with three degrees of freedom (DOFs). Embedded microcontrollers networked with the I2C protocol activate the actuators of each module individually. In addition, we discuss certain design aspects and propose a solution that deals with the limited absolute stroke achieved by SMA wires. The forward and inverse kinematics of the binary manipulator are also presented and the tradeoffbetween maneuverability and computational complexity is specifically addressed. Finally, the functionality and maneuverability of this design are verified in simulation and experimentally.

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Design and implementation of a binary redundant manipulator with cascaded modules

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Keywords

ASJC Scopus subject areas

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