Please use this identifier to cite or link to this item: doi:10.22028/D291-30897
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Title: Finite element modeling and simulation of a robotic finger actuated by Ni-Ti shape memory alloy wires
Author(s): Simone, Filomena
Meli, Daniele
Rizzello, Gianluca
Naso, David
Seelecke, Stefan
Editor(s): Naguib, Hani E.
Language: English
Title: Behavior and Mechanics of Multifunctional Materials and Composites XIII
Pages: 10
Publisher/Platform: SPIE
Year of Publication: 2019
Title of the Conference: SPIE Smart Structures and Materials + Nondestructive Evaluation 2019
Place of the conference: Denver, Colorado, United States
Publikation type: Conference Paper
Abstract: In this paper, a dynamic model for an artificial finger driven by Shape Memory Alloy (SMA) wires is presented. Due to their high energy density, these alloys permit the realization of highly compact actuation solutions with potential applications in many areas of robotics, ranging from industrial to biomedical ones. Despite many advantages, SMAs exhibit a highly nonlinear and hysteretic behavior which complicates system design, modeling, and control. In case SMA wires are used to activate complex robotic systems, the further kinematic nonlinearities and contact problems make the modeling significantly more challenging. In this paper, we present a finite element model for a finger prototype actuated by a bundle of SMA wires. The commercially available software COMSOL is used to couple the finger structure with the SMA material, described via the Müller-Achenbach-Seelecke model. By means of several experiments, it is demonstrated how the model reproduces the finger response for different control inputs and actuator geometries.
DOI of the first publication: 10.1117/12.2513919
URL of the first publication:
Link to this record: hdl:20.500.11880/29120
ISBN: 978-1-5106-2592-1
Date of registration: 11-May-2020
Notes: Proceedings of SPIE ; volume 10968
Faculty: NT - Naturwissenschaftlich- Technische Fakultät
Department: NT - Systems Engineering
Professorship: NT - Prof. Dr. Stefan Seelecke
Collections:SciDok - Der Wissenschaftsserver der Universität des Saarlandes

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