research-article

Development of a Planar 3PRP Parallel Manipulator using Shape Memory Alloy Spring based Actuators

Authors:

Yogesh Singh,

Santhakumar MohanAuthors Info & Claims

AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics

Article No.: 10, Pages 1 - 6

https://doi.org/10.1145/3132446.3134874

Published: 28 June 2017 Publication History

Get Access

Abstract

This paper presents the development of a SMA (shape memory alloy) spring actuation based 3-dof (three degree of freedom) 3PRP (prismatic-rotary-prismatic) planar parallel manipulator where each limb (3 stands for three limbs) of the manipulator having PRP joint arrangement. The active prismatic actuators are made of SMA springs. This 3PRP planar parallel manipulator has a parallel structure including a fixed base and a moving platform (end-effector) and placed in xy plane. Base and the end-effector of the manipulator are linked together by three limbs consisting of prismatic-revolute-prismatic (PRP) joint arrangement in which each limb has one active prismatic joint made of SMA springs. Forward and inverse kinematic analysis of the 3PRP planar parallel manipulator has been studied. Suitability and usage of SMA spring based actuators replacing highly bulky prismatic actuators has been investigated. In addition, the detailed study of the actuation or deflection of the SMA springs in the application of driving the manipulator has been presented experimentally. From the experimental results, it is observed that the 3PRP manipulator associated with SMA spring based actuators has larger workspace to total area required ratio as all the three active prismatic actuators actuates properly and in same time. In overall, this paper shows the 3PRP planar parallel manipulator associated with SMA spring actuators is superior alternatives to conventional motion stages for high precise micro-positioning and tracking applications.

References

[1]

Briot, S., Bonev, I. A. 2007, Are parallel robots more accurate than serial robots?, Transactions of the Canadian Society for Mechanical Engineering. 31, 4 (2007), 445--455. DOI=http://etsmtl.ca/professeurs/ibonev/documents/pdf/CSME001.pdf.

Crossref

Google Scholar

[2]

Merlet, J. P. 2006. Parallel Robots. second ed. Springer, Netherlands, (ISBN: 978-90-481-7053-1).

Crossref

Google Scholar

[3]

Yu, A., Bonev, I. A., Zsombor-Murray, P. 2006. New XY-Theta Positioning Table with Partially Decoupled Parallel Kinematics. IEEE International Symposium on Industrial Electronics (Montreal, Quebec, Canada, July 9--12, 2006). 3108--3112.

Google Scholar

[4]

Yu, A., Bonev, I. A., Murray, P. Z. 2008. Geometric approach to the accuracy analysis of a class of 3 dof planar parallel robots. Mechanism and Machine Theory. 43, 3 (March 2008), 364--375.

Crossref

Google Scholar

[5]

Otsuka, K., Wayman, C. 1998. Shape memory materials. Cambridge: Cambridge University Press; 1998. ISBN: 9780521663847.

Google Scholar

[6]

Jaronie, M. J., Martin, L., Aleksandar, S., Mark, A. G. 2014. A review of shape memory alloy research, applications and opportunities. Materials and Design. 56, (April 2014), 1078--1113.

Google Scholar

[7]

Sreekumar, M., Singaperumal, M., Nagarajan, T., Zoppi, M., Molfino, R. 2006. A Compliant Miniature Parallel Manipulator with Shape Memory Alloy Actuators. IEEE International Conference on Industrial Technology (15--17 Dec. 2006). ICIT 2006. 848--853.

Crossref

Google Scholar

[8]

Sreekumar, M., Nagarajan, T., Singaperumal, M. 2007. Critical review of current trends in shape memory alloy actuators for intelligent robots. Industrial Robot: An International Journal. 34, 4 (April 2007), 285 -- 294.

Crossref

Google Scholar

[9]

Jani, J. M., Leary, M., Subic, Al., Gibson, M. A. 2014. A review of shape memory alloy research, applications and opportunities. Materials and Design. 56, (2014), 1078--1113.

Google Scholar

[10]

Follador, M., Cianchetti, M., Arienti, A., Laschi, A. 2012. A general method for the design and fabrication of shape memory alloy active spring actuators. Smart Mater. Struct. 21, (2012), 115029.

Crossref

Google Scholar

[11]

PAVEL, L. P., P. DA SILVA, E. 2000. Time Response of Shape Memory Alloy Actuators, Journal of intelligent material systems and structures, 11, (2000), 125--134.

Google Scholar

Cited By

View all

Choudhury RSingh Y(2023)Development and performance investigations of the planar parallel robotic manipulators using shape memory alloy linear actuation techniqueProceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering10.1177/09544089231216022Online publication date: 23-Nov-2023
https://doi.org/10.1177/09544089231216022
Choudhury RSingh Y(2023)Planar parallel manipulators: A review on kinematic, dynamic, and control aspectsProceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering10.1177/09544089231158187238:4(1991-2016)Online publication date: 15-Mar-2023
https://doi.org/10.1177/09544089231158187
Choudhury RSingh Y(2023)Design development and control of a shape memory alloy linear actuation based XYθ motion stageEngineering Research Express10.1088/2631-8695/acca715:2(025011)Online publication date: 14-Apr-2023
https://doi.org/10.1088/2631-8695/acca71
Show More Cited By

Recommendations

Modeling and control of two DOF shape memory alloy actuators with applications
Abstract
In this research, we developed several two degree of freedom actuators using shape memory alloy (SMA) springs. We tested these actuators in various applications like: mobile holder, and bio-inspired: fish body, and fish tail. In such applications ...
Vibration Control of a Planar Parallel Manipulator Using Piezoelectric Actuators

This paper presents an active damping control approach applied to piezoelectric actuators attached to flexible linkages of a planar parallel manipulator for the purpose of attenuation of unwanted mechanical vibrations. Lightweight linkages of parallel ...
Dynamic formulation of a planar 3-DOF parallel manipulator with actuation redundancy

In this paper, based on the conventional Newton-Euler approach, a simplification method is proposed to derive the dynamic formulation of a planar 3-DOF parallel manipulator with actuation redundancy. Closed-form solutions are developed for the inverse ...

Comments

Please enable JavaScript to view thecomments powered by Disqus.

Information & Contributors

Information

Published In

AIR '17: Proceedings of the 2017 3rd International Conference on Advances in Robotics

June 2017

325 pages

ISBN:9781450352949

DOI:10.1145/3132446

© 2017 Association for Computing Machinery. ACM acknowledges that this contribution was authored or co-authored by an employee, contractor or affiliate of a national government. As such, the Government retains a nonexclusive, royalty-free right to publish or reproduce this article, or to allow others to do so, for Government purposes only.

In-Cooperation

IIT-Delhi: IIT-Delhi

Publisher

Association for Computing Machinery

New York, NY, United States

Publication History

Published: 28 June 2017

Permissions

Request permissions for this article.

Request Permissions

Check for updates

Author Tags

Qualifiers

Research-article
Research
Refereed limited

Conference

AIR '17

AIR '17: Advances in Robotics

June 28 - July 2, 2017

New Delhi, India

Acceptance Rates

Overall Acceptance Rate 69 of 140 submissions, 49%

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

6
Total Citations
View Citations
189
Total Downloads

Downloads (Last 12 months)4
Downloads (Last 6 weeks)2

Reflects downloads up to 04 Jan 2025

Other Metrics

View Author Metrics

Citations

Cited By

View all

Choudhury RSingh Y(2023)Development and performance investigations of the planar parallel robotic manipulators using shape memory alloy linear actuation techniqueProceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering10.1177/09544089231216022Online publication date: 23-Nov-2023
https://doi.org/10.1177/09544089231216022
Choudhury RSingh Y(2023)Planar parallel manipulators: A review on kinematic, dynamic, and control aspectsProceedings of the Institution of Mechanical Engineers, Part E: Journal of Process Mechanical Engineering10.1177/09544089231158187238:4(1991-2016)Online publication date: 15-Mar-2023
https://doi.org/10.1177/09544089231158187
Choudhury RSingh Y(2023)Design development and control of a shape memory alloy linear actuation based XYθ motion stageEngineering Research Express10.1088/2631-8695/acca715:2(025011)Online publication date: 14-Apr-2023
https://doi.org/10.1088/2631-8695/acca71
Singh DChoudhury RSingh YMukherjee M(2021)Workspace analysis of 3-DOF U-shape base planar parallel robotic motion stage using shape memory alloy restoration technique (SMART) linear actuatorsSN Applied Sciences10.1007/s42452-021-04490-y3:4Online publication date: 29-Mar-2021
https://doi.org/10.1007/s42452-021-04490-y
Singh DChoudhury RSingh YMukherjee M(2020)Development and Workspace Analysis of Smart Actuation based Planar Parallel Robotic Motion StageIOP Conference Series: Materials Science and Engineering10.1088/1757-899X/912/3/032063912:3(032063)Online publication date: 1-Aug-2020
https://doi.org/10.1088/1757-899X/912/3/032063
Singh DSingh YMukherjee M(2020)Behaviour of NiTi Based Smart Actuator for the Development of Planar Parallel Micro-Motion StageAdvances in Mechanical Engineering10.1007/978-981-15-3639-7_26(221-228)Online publication date: 30-Jun-2020
https://doi.org/10.1007/978-981-15-3639-7_26

View Options

Login options

Check if you have access through your login credentials or your institution to get full access on this article.

Cited By

Recommendations

Modeling and control of two DOF shape memory alloy actuators with applications

Vibration Control of a Planar Parallel Manipulator Using Piezoelectric Actuators

Dynamic formulation of a planar 3-DOF parallel manipulator with actuation redundancy