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Accurate Force Control in a Miniature Gripper With a Single SMA Wire

[+] Author Affiliations
Ayyoub Rezaeian

University of Waterloo, Waterloo, ON, Canada

Aghil Yousefi-Koma

University of Tehran, Tehran, Iran

Paper No. IMECE2014-40319, pp. V04BT04A067; 8 pages
  • ASME 2014 International Mechanical Engineering Congress and Exposition
  • Volume 4B: Dynamics, Vibration, and Control
  • Montreal, Quebec, Canada, November 14–20, 2014
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4648-3
  • Copyright © 2014 by ASME


In this paper, a shape memory alloy wire is used as an actuator in a gripper. Additionally, a fuzzy controller is developed to control the force produced by the gripper. Fuzzy logic employed in the controller is used to tune the PID controller gains and improve the performance of the conventional PID controller. The performances of the proposed fuzzy PID controller and the conventional PID controller are compared with experiment tests. The experimental results verified the effectiveness of the proposed controller for the various command forces.

Copyright © 2014 by ASME



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