SMA-Based Muscle-Like Actuation in Biologically Inspired Robots: A State of the Art Review

Coral Cuellar, William and Rossi, Claudio and Colorado Montaño, Julián and Barrientos Cruz, Antonio (2012). SMA-Based Muscle-Like Actuation in Biologically Inspired Robots: A State of the Art Review. In: "Smart Actuation and Sensing Systems – Recent Advances and Future Challenges". Intech. ISBN 978-953-51-0798-9. https://doi.org/10.5772/2760.

Description

Title: SMA-Based Muscle-Like Actuation in Biologically Inspired Robots: A State of the Art Review
Author/s:
  • Coral Cuellar, William
  • Rossi, Claudio
  • Colorado Montaño, Julián
  • Barrientos Cruz, Antonio
Editor/s:
  • Berselli, Giovanni
  • Vertechy, Rocco
  • Vassura, Gabriele
Item Type: Book Section
Title of Book: Smart Actuation and Sensing Systems – Recent Advances and Future Challenges
Date: 1 October 2012
ISBN: 978-953-51-0798-9
Subjects:
Faculty: E.T.S.I. Industriales (UPM)
Department: Electrónica, Automática e Informática Industrial [hasta 2014]
Creative Commons Licenses: None

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Abstract

New actuation technology in functional or "smart" materials has opened new horizons in robotics actuation systems. Materials such as piezo-electric fiber composites, electro-active polymers and shape memory alloys (SMA) are being investigated as promising alternatives to standard servomotor technology [52]. This paper focuses on the use of SMAs for building muscle-like actuators. SMAs are extremely cheap, easily available commercially and have the advantage of working at low voltages. The use of SMA provides a very interesting alternative to the mechanisms used by conventional actuators. SMAs allow to drastically reduce the size, weight and complexity of robotic systems. In fact, their large force-weight ratio, large life cycles, negligible volume, sensing capability and noise-free operation make possible the use of this technology for building a new class of actuation devices. Nonetheless, high power consumption and low bandwidth limit this technology for certain kind of applications. This presents a challenge that must be addressed from both materials and control perspectives in order to overcome these drawbacks. Here, the latter is tackled. It has been demonstrated that suitable control strategies and proper mechanical arrangements can dramatically improve on SMA performance, mostly in terms of actuation speed and limit cycles.

More information

Item ID: 13763
DC Identifier: http://oa.upm.es/13763/
OAI Identifier: oai:oa.upm.es:13763
DOI: 10.5772/2760
Deposited by: PhD Candidate Julian Colorado
Deposited on: 24 Oct 2012 07:18
Last Modified: 21 Apr 2016 13:07
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