Full Content is available to subscribers

Subscribe/Learn More  >

Variable Structure Control of a Three-Link SMA-Actuated Robot

[+] Author Affiliations
Hashem Ashrafiuon, Mojtaba Eshraghi

Villanova University, Villanova, PA

Mohammad H. Elahinia

Virginia Polytechnic Institute and State University, Blacksburg, VA

Paper No. DETC2004-57024, pp. 53-60; 8 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


A fast, accurate and robust position controller is proposed for a planar three degree of freedom robot arm actuated by rotary Shape Memory Alloy actuators and servomotors. Servomotors are used to actuate the first link and the gripper, while the remaining two links are actuated by a combination of shape memory alloy wires and pulleys. Initially, a model of the robot arm is developed for theoretical controller development. The model combines robot kinematics and dynamics with the SMA wire heat convection, constitutive law, and phase transformation equations. The model is then used to develop several nonlinear position controllers based on the Variable Structure Control, also called sliding mode control. The controller development is of an evolutionary nature starting from a simple switching control based only on position feedback and then adding velocity and integral feedbacks, respectively. Several simulations of the proposed controllers are presented. Several experiments have been performed with a desktop prototype of the robot arm. The experimental results verify the effective and accurate performance of the controllers despite significant modeling inaccuracies and parameter uncertainties.

Copyright © 2004 by ASME
Topics: Robots



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In