This paper describes a microgripper used for the micro-assembly of an artificial scaffold for tissue engineering. The porous sponge-like scaffold is a three dimensional construct built by tiny unit parts of biodegradable polymer. This application requires the assembly of several parts by applying a suitable level of force. In this framework, a monolithic shape memory alloy (SMA) microgripper wa...

This paper presents the design and the experimental result of the active position control of a shape memory alloy (SMA) wire actuated composite beam. The composite beam has a honeycomb structure with SMA wires embedded in one of its face sheets for the active actuation. The potential applications of this experiment include thermo-distortion compensation for precision space structure, stern shap...

This paper presents the designing, simulation, fabrication and control of a gripper actuated by Shape Memory Alloy (SMA) wire. The presented gripper has the advantage of the small linear displacement of the slider connected to the SMA wire, and can convert the linear displacement into angular movement of the gripper fingers. In this study, design and simulation processes have been done by two p...

In this work, the nonlinear buckling and post-buckling behavior of shallow arches made of Shape Memory Alloy (SMA) is investigated. Arches are susceptible to large deflections, due to their slenderness, especially when the external load exceeds the serviceability limit point. Beyond this, loss of stability may occur, the famous snap-through buckling. For this reason, curved beams can be used in...

In this paper we present a walking pattern filter for Shape Memory Alloy (SMA) actuated biped robots. SMAs are known for their slow response. The actuation speed limitation can potentially lead to stability problems for biped robots. This filter adapts the human motion for a SMA biped in order to have a stable walking pattern. The Zero Moment Point (ZMP) is used as a main criterion of the filte...

The Shape Memory Alloy is a lightweight, compact and biocompatible actuation mechanism which is considered here to replace the current actuation technologies in assistive locomotion devices. This paper is aimed toward the development of an adaptive robust controller to deal with control problems in the actuation of shape memory alloys (SMA). In this research the ankle joint is considered to be ...

Shape memory alloy (SMA) actuation is becoming an increasingly viable technology for industrial applications as many of the technical issues that have limited its use are being addressed (speed of actuation, mechanical connections, performance degradation, quality control, etc.) while increasing production capacities drive costs to practical levels. Shape memory alloys are often selected becaus...

In the last two decades, there has been an increasing interest in structural engineering control methods. Shape memory alloys and seismic isolation systems are examples of passive control systems that use of any one alone, effectively improve the seismic performance of the structure. Characteristics such as large strain range without any residual deformation, high damping capacity, excellent re...

The paper introduces a contribution in the design of adaptive controllers. A PID adaptive controller derived using the mathematical formulas of model reference adaptive control (MRAC) combined with the self tuning adaptive control (STC). The controller tested in the position control of shape memory alloy (SMA) wire and enhanced by experiment to an Enhanced adaptive controller which is more robu...