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A shape memory alloy based tendon-driven actuation system for biomimetic artificial fingers, part II: modelling and control

Published online by Cambridge University Press:  27 August 2009

Gabriele Gilardi ,
Edmund Haslam ,
Vishalini Bundhoo  and
Edward J. Park
Gabriele Gilardi
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, BC, CanadaV8W 3P6
Edmund Haslam
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, BC, CanadaV8W 3P6
Vishalini Bundhoo
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, BC, CanadaV8W 3P6
Edward J. Park*
Affiliation:
Department of Mechanical Engineering, University of Victoria, PO Box 3055 STN CSC, Victoria, BC, CanadaV8W 3P6 Mechatronic Systems Engineering, School of Engineering Science, Simon Fraser University, 250 – 13450 102nd Avenue, Surrey, BC, CanadaV3T 0A3
*
*Corresponding author. E-mail: ed_park@sfu.ca
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Summary

In this paper, the dynamics and biomimetic control of an artificial finger joint actuated by two opposing one-way shape memory alloy (SMA) muscle wires that are configured in a double spring-biased agonist–antagonist fashion is presented. This actuation system, which was described in Part I, forms the basis for biomimetic tendon-driven flexion/extension and abduction/adduction of the artificial finger. The work presented in this paper centres on thermomechanical modelling of the SMA wire, including both major and minor hysteresis loops in the phase transformation model, and co-operative control strategy of the agonist–antagonist muscle pair using a pulse-width-modulated proportional-integral-derivation (PWM–PID) controller. Parametric analysis and identification are carried out based on both simulation and experimental results. The performance advantage of the proposed co-operative control is shown using the metacarpophalangeal joint of the artificial finger.

Keywords

Artificial fingerArtificial muscleShape memory alloyPhase transformationHysteresisPIDBiomimetic control
Type
Article
Information
Robotica , Volume 28 , Issue 5 , September 2010 , pp. 675 - 687
Copyright
Copyright © Cambridge University Press 2009

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