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Constraint-Based Design and Analysis of a Compliant Parallel Mechanism Using SMA-Spring Actuators

[+] Author Affiliations
C. Qiu, K. Zhang, Jian S. Dai

King’s College London, London, UK

Paper No. DETC2014-34605, pp. V05AT08A035; 10 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


This paper presents a novel compliant parallel mechanism that utilizes shape-memory-alloy (SMA) spring based actuators. By employing SMA coil springs, the traditional line constraint that resists translation along its axis but no other forms of motions is transformed into a linear actuator that can generate deflection along its axis, which leads to the design of SMA-spring linear actuators. In accordance with this SMA actuator, an constraint-based approach in the framework of screw theory is utilized to synthesize the constraint and actuation space of parallel mechanisms, and a novel 4 DOF parallel platform is developed based on this analytical approach. A physical prototype is manufactured by employing the SMA-spring actuators, and its mobility and workspace are verified with both finite element simulation and experiment observations. The results illustrate this parallel mechanism has a large workspace in all desired mobility configurations. The presented work on the parallel platform demonstrates the efficiency of the constraint-based approach in determining the layout of actuation systems, also the developed SMA actuators pave a new way for applying the SMA technique in the future development of compliant parallel mechanisms and robotics.

Copyright © 2014 by ASME



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