TY - GEN
T1 - A continuum manipulator with phase changing alloy
AU - Alambeigi, Farshid
AU - Seifabadi, Reza
AU - Armand, Mehran
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/6/8
Y1 - 2016/6/8
N2 - A new type of cable-driven continuum manipulator (CM) is presented, in which the stiffness of the device along its body length can be controlled using the thermomechanical properties of a phase changing alloy. The liquid phase of the alloy is used for achieving high dexterity and the solid phase for high stiffness. Joule heating and water cooling is used for transitioning the phase changing alloy between stiff and compliant states. Single-segment and two-segment working prototypes of the CM are demonstrated. The mechanical and thermodynamic features of these prototypes are discussed and their physical performance is investigated. Advantages of the presented design with phase changing alloy include: significantly improved dexterity, high payload to weight ratio, controllable stiffness, energy efficiency, and a large lumen.
AB - A new type of cable-driven continuum manipulator (CM) is presented, in which the stiffness of the device along its body length can be controlled using the thermomechanical properties of a phase changing alloy. The liquid phase of the alloy is used for achieving high dexterity and the solid phase for high stiffness. Joule heating and water cooling is used for transitioning the phase changing alloy between stiff and compliant states. Single-segment and two-segment working prototypes of the CM are demonstrated. The mechanical and thermodynamic features of these prototypes are discussed and their physical performance is investigated. Advantages of the presented design with phase changing alloy include: significantly improved dexterity, high payload to weight ratio, controllable stiffness, energy efficiency, and a large lumen.
UR - https://www.scopus.com/pages/publications/84977504416
UR - https://www.scopus.com/pages/publications/84977504416#tab=citedBy
U2 - 10.1109/ICRA.2016.7487204
DO - 10.1109/ICRA.2016.7487204
M3 - Conference contribution
AN - SCOPUS:84977504416
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 758
EP - 764
BT - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Robotics and Automation, ICRA 2016
Y2 - 16 May 2016 through 21 May 2016
ER -