Finite element modeling and simulation of a robotic finger actuated by Ni-Ti shape memory alloy wires

Filomena Simone; Daniele Meli; Gianluca Rizzello; David Naso; Stefan Seelecke

doi:10.1117/12.2513919

29 March 2019 Finite element modeling and simulation of a robotic finger actuated by Ni-Ti shape memory alloy wires

Filomena Simone, Daniele Meli, Gianluca Rizzello, David Naso, Stefan Seelecke

Proceedings Volume 10968, Behavior and Mechanics of Multifunctional Materials XIII; 109680F (2019) https://doi.org/10.1117/12.2513919
Event: SPIE Smart Structures + Nondestructive Evaluation, 2019, Denver, Colorado, United States

Abstract

In this paper, a dynamic model for an artificial finger driven by Shape Memory Alloy (SMA) wires is presented. Due to their high energy density, these alloys permit the realization of highly compact actuation solutions with potential applications in many areas of robotics, ranging from industrial to biomedical ones. Despite many advantages, SMAs exhibit a highly nonlinear and hysteretic behavior which complicates system design, modeling, and control. In case SMA wires are used to activate complex robotic systems, the further kinematic nonlinearities and contact problems make the modeling significantly more challenging. In this paper, we present a finite element model for a finger prototype actuated by a bundle of SMA wires. The commercially available software COMSOL is used to couple the finger structure with the SMA material, described via the Müller-Achenbach-Seelecke model. By means of several experiments, it is demonstrated how the model reproduces the finger response for different control inputs and actuator geometries.

Conference Presentation

Citation Download Citation

Filomena Simone, Daniele Meli, Gianluca Rizzello, David Naso, and Stefan Seelecke "Finite element modeling and simulation of a robotic finger actuated by Ni-Ti shape memory alloy wires", Proc. SPIE 10968, Behavior and Mechanics of Multifunctional Materials XIII, 109680F (29 March 2019); https://doi.org/10.1117/12.2513919

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