Volume 19, Issue 2 (2019)                   Modares Mechanical Engineering 2019, 19(2): 375-386 | Back to browse issues page

XML Persian Abstract Print

Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:

Sheikhi M, Hadi A, Ghasemi Varzaneh M. Design of a basic module for angular motion of spherical joints using the actuators of shape memory alloys and magnetic stabilization system. Modares Mechanical Engineering. 2019; 19 (2) :375-386
URL: http://journals.modares.ac.ir/article-15-19042-en.html
1- Mechanical Engineering Department, Mechanical Engineering Faculty, Shahid Rajaee University, Tehran, Iran , m.sheikhi@sru.ac.ir
2- Mechatronics Department, New Sciences & Technologies Faculty, University of Tehran, Tehran, Iran
3- Mechanical Engineering Department, Mechanical Engineering Faculty, Shahid Rajaee University, Tehran, Iran
Abstract:   (801 Views)
Spherical joints are specifically used in many robotic systems, including various industrial and medical applications, especially in non-structured environments. Modular robotic systems are the appropriate solution for use in these environments; So that the configuration of the robots can change quick and easy by link or separate different modules. Flexibility of modules, enough degrees of freedom, capability to stabilize the position of the module and rigidity to maintain strength and stiffness of modular robot during mission are the most important features of a modular robot. Shape memory alloys are suitable actuators for use in robotic modules, which a tiny, lightweight, and without noise system is achieved by using them. In this paper, a mechanism with two degrees of freedom has been created by placing three memory shape alloys springs in the structure of a flexible joint module. Also, with the installation of an electromagnetic system in the joint, it is possible to stabilize its position when necessary. The developed module, in addition to its high flexibility, can maintain its position when needed and increase the strength of the robotic arm. In this research, the design of the module has been presented and kinematic and force analysis has been investigated.
Full-Text [PDF 1398 kb]   (305 Downloads)    

Received: 2018/04/16 | Accepted: 2018/10/23 | Published: 2019/02/2

1. English C, Russell D. Implementation of variable joint stiffness through antagonistic actuation using rolamite springs. Mechanism and Machine Theory. 1999;34(1):27-40. [Link] [DOI:10.1016/S0094-114X(97)00103-1]
2. Tondu B, Lopez P. Modeling and control of McKibben artificial muscle robot actuators. IEEE control systems Magazine. 2000;20(2):15-38. [Link] [DOI:10.1109/37.833638]
3. Farley CT, Houdijk HH, Van Strien C, Louie M. Mechanism of leg stiffness adjustment for hopping on surfaces of different stiffnesses. Journal of applied physiology. 1998;85(3):1044-1055. [Link] [DOI:10.1152/jappl.1998.85.3.1044]
4. Kanda T, Ishiguro H, Imai M, Ono T. Development and evaluation of interactive humanoid robots. Proceedings of the IEEE. 2004;92(11):1839-1850. [Link] [DOI:10.1109/JPROC.2004.835359]
5. Brooker JC, Saunders PB, Shah SG, Williams CB. A new variable stiffness colonoscope makes colonoscopy easier: A randomised controlled trial. Gut. 2000;46(6):801-805. [Link] [DOI:10.1136/gut.46.6.801]
6. Van Ham R, Vanderborght B, Van Damme M, Verrelst B, Lefeber D. MACCEPA, the mechanically adjustable compliance and controllable equilibrium position actuator: Design and implementation in a biped robot. Robotics and Autonomous Systems. 2007;55(10):761-768. [Link] [DOI:10.1016/j.robot.2007.03.001]
7. Kong K, Bae J, Tomizuka M. Control of rotary series elastic actuator for ideal force-mode actuation in human–robot interaction applications. IEEE/ASME transactions on mechatronics. 2009;14(1):105-118. [Link] [DOI:10.1109/TMECH.2008.2004561]
8. English CE, Russell D. Mechanics and stiffness limitations of a variable stiffness actuator for use in prosthetic limbs. Mechanism and machine theory. 1999;34(1):7-25. [Link] [DOI:10.1016/S0094-114X(98)00026-3]
9. Boyer K, Federolf P, Lin C, Nigg B, Andriacchi T. Kinematic adaptations to a variable stiffness shoe: Mechanisms for reducing joint loading. Journal of biomechanics. 2012;45(9):1619-1624. [Link] [DOI:10.1016/j.jbiomech.2012.04.010]
10. Choi J, Hong S, Lee W, Kang S, Kim M. A robot joint with variable stiffness using leaf springs. IEEE Transactions on Robotics. 2011;27(2):229-238. [Link] [DOI:10.1109/TRO.2010.2100450]
11. Yang K, Yang G, Wang J, Zheng T, Yang W. Design analysis of a 3-DOF cable-driven variable-stiffness joint module. 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), Zhuhai, China. Piscataway: IEEE; 2015. pp. 529-534. [Link] [DOI:10.1109/ROBIO.2015.7418822]
12. Firouzeh A, Mirrazavi Salehian SS, Billard A, Paik J. An under actuated robotic arm with adjustable stiffness shape memory polymer joints. 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, WA, USA. Piscataway: IEEE; 2015. pp. 2536-2543. [Link] [DOI:10.1109/ICRA.2015.7139539]
13. Sugawara T, Hirota KI, Watanabe M, Mineta T, Makino E, Toh S, et al. Shape memory thin film actuator for holding a fine blood vessel. Sensors and Actuators A: Physical. 2006;130-131:461-467. [Link] [DOI:10.1016/j.sna.2005.10.031]
14. Hadi A, Yousefi-Koma A, Moghaddam MM, Elahinia M, Ghazavi A. Developing a novel SMA-actuated robotic module. Sensors and Actuators A: Physical. 2010;162(1):72-81. [Link] [DOI:10.1016/j.sna.2010.06.014]
15. Shi Z, Wang T, Liu D, Ma C, Yuan X. A fuzzy PID-controlled SMA actuator for a two-DOF joint. Chinese Journal of Aeronautics. 2014;27(2):453-460. [Link] [DOI:10.1016/j.cja.2014.02.015]
16. Woehrmann M, Doerbaum M, Ponick B, Mertens A. Design of a fully actuated electromagnetic bending actuator for endoscopic applications. Innovative Small Drives and Micro-Motor Systems; 9. GMM/ETG Symposium, Nuremberg, Germany. Frankfurt: VDE; 2013. [Link]
17. Cetinkunt S. Mechatronics with experiments. 2nd Edition. Hoboken: John Wiley & Sons; 2015. [Link]

Add your comments about this article : Your username or Email:

Send email to the article author