Purpose – The purpose of this paper is to review the current application areas of shape memory alloy (SMA) actuators in intelligent robotic systems and devices. Design/methodology/approach – This paper analyses how actuation and sensing functions of the SMA actuator have been exploited and incorporated in micro and macro robotic devices, developed for medical and non-medical applications. The speed of response of SMA actuator mostly depends upon its shape and size, addition and removal of heat and the bias force applied. All these factors have impact on the overall size of the robotic device and the degree of freedom (dof) obtained and hence, a comprehensive survey is made highlighting these aspects. Also described are the mechatronic aspects like the software and hardware used in an industrial environment for the control of such nonlinear actuator and the type of sensory feedback devices incorporated for obtaining better control, positioning accuracy and fast response. Findings – SMA actuators find wide applications in various facets of robotic equipments. Selecting a suitable shape, fast heating and cooling method and better intelligent control technique with or without feedback devices could optimize its performance. Research limitations/implications – The frequency of SMA actuation purely depends on the rate of heat energy added to and removed from the actuator, which in turn depends upon interrelated nonlinear parameters. Practical implications – For increasing the dof of robots, number of actuators also have to be increased that leads to complex control problems. Originality/value – Explains the suitability of SMA as actuators in smart robotic systems, possibility of miniaturisation. It also highlights the difficulties faced by the SMA research community.
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|Titolo:||Critical review of current trends in shape memory alloy actuators for intelligent robotic devices|
|Autori interni:||ZOPPI, MATTEO|
|Data di pubblicazione:||2007|
|Appare nelle tipologie:||01.01 - Articolo su rivista|