ACTUATOR 2016 Manuscript B1.2

Author: Hubert Borgmann
Pages: 4
Language: English
Publication date: 01/06/2016
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Manuscript B1.2 published in Conference Proceedings ACTUATOR 2016
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 [1]. 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.
El vendedor asume toda la responsabilidad de esta entrada.
Hubert Borgmann, MESSE BREMEN,
Project Manager ACTUATOR, International Conference and Exhibition on New Actuators and Drive Systems, Bremen, Germany, and Editor of the ACTUATOR Conference Proceedings (
Project Manager ITHEC, International Conference and Exhibition on Thermoplastic Composites, Bremen, Germany, and Editor of the ITHEC Conference Proceedings (

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