Abstract
Recently, decreasing costs for robots and control components have led to a broader acceptance of different kinds of robots. Hence, various fields of application start to flourish. As this is especially true for the field of service robotics it is typically implying an increasing physical human-machine-interaction. In this case a soft appearance yields major benefits, as it prevents injuries corresponding to an inherent safety of the system and, in theory, enables the robot to obtain virtually unlimited degrees of freedom. In this chapter the possibilities of the use of shape memory alloys for distributed actuators will be discussed by reference to application examples and implications for the control of such systems will be pointed out in detail.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Besselink PA (1996) Procedure for the calculation of the geometry of a resistance heated NiTi-actuator. In: Actuator Proceedings of the 5th International Conference on New Ac-tuators, pp 421–424
Bodson M (2002) Evaluation of optimization methods for control allocation. Journal of Guidance, Control, and Dynamics 25(4):703–711
Cianchetti M, Follador M, Mazzolai B, Dario P, Laschi C (2012) Design and develop-ment of a soft robotic octopus arm exploiting embodied intelligence. In: IEEE Interna-tional Conference on Robotics and Automation (ICRA), pp 5271–5276, DOI 10.1109/ICRA.2012.6224696
Ghasemi A (2012) Specified motion and feedback control of engineering structures with distributed sensors and actuators. Dissertation, University of Kentucky
Hädrich J, Walther M, Schlegel H, Neugebauer R (2011) Sensordatenfusion zur Zustand-serfassung nachgiebiger Leichtbauarme. In: 21st International Scientific Conference, Mittweida, pp 45–49
Hädrich J, Walther M, Schlegel H, Neugebauer R (2011) Zustandserfassung für die Lage-regelung eines nachgiebigen Roboterarms. In: SPS/IPC/DRIVES, Nürnberg, pp 423–431
Härkegård O (2002) Dynamic control allocation using constrained quadratic program-ming. In: AIAA Guidance, Navigation, and Control Conference, Monterey, California
Jung J (2009) Aufbau eines Greifmechanismus mit FG-Drahtaktoren. Diploma thesis, Technische Universität Dresden
Kohl M (2002) Entwicklung von Mikroaktoren aus Formgedchtnislegierungen, Wissen-schaftliche Berichte, vol 6718. Forschungszentrum Karlsruhe
Lagoudas DC (2008) Shape Memory Alloys - Modeling and Engineering Applications. Springer
Langbein S, Czechowicz A (2012) Adaptive resetting of SMA actuators. Journal of Intel-ligent Material Systems and Structures 23(2):127–134, DOI 10.1177/1045389�11431741
Meier H, Czechowicz A, Dilthey S (2008) Regeln von FG-Legierungen mit Widerstands-rückkopplung: Sensorik-Arrays überflüssig. Mechatronik (11/12):24–27
Neugebauer R, Bucht A, Pagel K, Jung J (2010) Numerical simulation of the activation behavior of thermal shape memory alloys. In: Proceedings SPIE, vol 7645, pp 76,450J–76,450J–12, DOI 10.1117/12.847594
Neugebauer R, Hipp K, Hofmann S, Schlegel H (2011) Einsatz von Verfahren der Simu-lationsbasierten Optimierung zur Reglerparametrierung unter Berücksichtigung von defi-nierbaren Nebenbedingungen. In: Mechatronik, Dresden, pp 247–252
Neugebauer R, Walther M, Hädrich J, Schlegel H (2011) Zustandserfassung flexibler Leichtbauarme durch Multisensor Daten Integration. In: Fachtagung Mechatronik, Dres-den, pp 285–290
Neugebauer R, Hipp K, Hellmich A, Schlegel H (2012) Increased Performance of a Hy-brid Optimizer for Simulation Based Controller Parameterization. JAMRIS - Journal of Automation, Mobile Robotics & Intelligent Systems (1):42–45
Oelschlaeger L (2004) Numerische Modellierung des Aktivierungsverhaltens von Form-gedaechtnisaktoren am Beispiel eines Schrittantriebes. Dissertation, Ruhr-Universität Bochum
Sangbae K, Hawkes E, Kyujin C, Joldaz M, Foleyz J, Wood R (2009) Micro artificial muscle fiber using NiTi spring for soft robotics. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 2228–2234, DOI 10.1109/IROS.2009.5354178
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Drossel, WG., Schlegel, H., Walther, M., Zimmermann, P., Bucht, A. (2015). New Concepts for Distributed Actuators and Their Control. In: Verl, A., Albu-Schäffer, A., Brock, O., Raatz, A. (eds) Soft Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44506-8_3
Download citation
DOI: https://doi.org/10.1007/978-3-662-44506-8_3
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-44505-1
Online ISBN: 978-3-662-44506-8
eBook Packages: EngineeringEngineering (R0)