Novel Characterisation and Modeling of the Thermal Behavior of Multi-Wire SMA Actuators for Robot Grippers
- This study describes the behaviour of a multi-wire shape memory alloy (SMA) actuator, with the bending angle expressed as a function of the actuator surface temperature. The temperature behaviour is quantified based on data obtained from an infrared sensor, and the hysteresis behaviour of the SMA actuator is modelled applying a sigmoid function. The least squares method is employed to identify theThis study describes the behaviour of a multi-wire shape memory alloy (SMA) actuator, with the bending angle expressed as a function of the actuator surface temperature. The temperature behaviour is quantified based on data obtained from an infrared sensor, and the hysteresis behaviour of the SMA actuator is modelled applying a sigmoid function. The least squares method is employed to identify the parameters of the sigmoid function, thereby enabling the positioning of the actuator with an average deviation of 0.5°. These results provide a foundation for position control in SMA-based robotic grippers.…
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| Document Type: | Conference Proceeding |
|---|---|
| Conference Type: | Konferenzartikel |
| Zitierlink: | https://opus.hs-offenburg.de/10947 | Bibliografische Angaben |
| Title (English): | Novel Characterisation and Modeling of the Thermal Behavior of Multi-Wire SMA Actuators for Robot Grippers |
| Conference: | Sensor and Measurement Science International (4. : 06.05.2025-08.05.2025 : Nürnberg) |
| Author: | Thomas WendtStaff MemberORCiDGND, Alexander DierleStaff MemberORCiD, Thomas SeifertStaff MemberORCiDGND, Andi SchnebelStaff MemberORCiD |
| Year of Publication: | 2025 |
| Place of publication: | Wunstorf, Germany |
| Publisher: | AMA Service GmbH |
| First Page: | 153 |
| Last Page: | 154 |
| Article Number: | C4.2 |
| Parent Title (English): | SMSI 2025, Sensor and Measurement Science International |
| ISBN: | 978-3-910600-06-5 |
| DOI: | https://doi.org/10.5162/SMSI2025/C4.2 |
| URN: | https://urn:nbn:de:bsz:ofb1-opus4-109478 |
| Language: | English | Inhaltliche Informationen |
| Institutes: | Fakultät Maschinenbau und Verfahrenstechnik (M+V) |
| Fakultät Wirtschaft (W) | |
| Research: | WLRI - Work-Life Robotics Institute |
| Collections of the Offenburg University: | Bibliografie |
| Tag: | actuator; nitinol; robot grippers; shape memory alloy; surface temperature |
| Storage of research data: | Hochschulserver (mit Backup) | Formale Angaben |
| Relevance for "Jahresbericht über Forschungsleistungen": | 1-fach | Konferenzbeitrag |
| Open Access: | Open Access |
| Bronze | |
| Licence (German): |  Creative Commons - CC BY - Namensnennung 4.0 International |