Design and fabrication of a shape memory alloy actuated exoskeletal microarm

Fumihito Arai, Daisaku Azuma, Keisuke Narumi, Yoko Yamanishi, Yu Ching Lin

研究成果: Conference contribution

8 被引用数 (Scopus)

抄録

This paper reports the design and fabrication process and control system of an exoskeletal microarm. The research of the microarm is part of a new concept of endoscopes designed for endoscopic submucosal dissection (ESD) operation. This novel ESD endoscope has two suction grippers to hold the lesion skin, and a cautery knife to cut. The grippers and cautery knife are actuated by shape memory alloy (SMA). SMA is known for its high work output unit volume and its high power/mass ratio. Plus, its exoskeletal link mechanism enables to calculate the position of its end tip, necessary for the control of the grippers and the knife. The microarm is composed of polydimethylsiloxane (PDMS) using soft lithography technique. The microarm is coated with hardening epoxy polymer, leaving only the joint part of the microarm uncoated. The microarm's bending angle is controlled by PID control system where SMA's electrical resistance change is used as a feedback parameter. The fabricated exoskeletal microarm successfully bent in a joint, and its angle was able to control under the PID control system.

本文言語English
ホスト出版物のタイトル2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS
ページ339-343
ページ数5
DOI
出版ステータスPublished - 2007 12 1
イベント2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS - Nagoya, Japan
継続期間: 2007 11 112007 11 14

出版物シリーズ

名前2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS

Conference

Conference2007 International Symposium on Micro-NanoMechatronics and Human Science, MHS
CountryJapan
CityNagoya
Period07/11/1107/11/14

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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