A Variable Impedance Actuator Based on Shape Memory Alloy
L. Manfredi, F.L. Velsink, H. Khan, A. Cuschieri
University of Dundee, Dundee, United Kingdom
Surgical robotic design is challenging mostly because of the restricted working space of the platform necessitating miniaturized actuators and sensors. Compliance is a fundamental requirement of an actuator design for safe atraumatic clinical interaction of the robot with organs and tissues . In the present paper, the authors describe a variable impedance miniaturised rotary actuator (VIMRA) using shape memory alloy (SMA) wires in antagonist configuration, to achieve a high force to weight ratio. The two SMA wires are connected to a pulley providing two forces, which can be independently controlled to adjust the joint stiffness.
ACTUATOR 2016 Manuscript B1.2
Publication date: 01/06/2016
Manuscript B1.2 published in Conference Proceedings ACTUATOR 2016
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