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Shape Memory Alloy (SMA) can be used as actuators in different robotic systems. Small size and weight of SMA springs make them appropriate for micro robotic devices such as surgery grippers. In this paper, a novel gripper actuated by SMA springs is designed and fabricated. Both closing and opening of the gripper's jaws is produced by a SMA spring which is actuates by applying voltage. A Fan is also...
In this work, An Adaptive Neuro Fuzzy Inference System (ANFIS) based hysteresis modeling is proposed for a bioinspired bird tail mechanism actuated by shape memory alloys (SMA). Experimental data collected from the mechanism are used to train the ANFIS model. The input voltage, time and past output of the system are fed to the ANFIS model as inputs. The trained ANFIS model is validated using several...
Hysteretic behavior of shape memory alloys (SMA) has become a critically important problem for modeling the SMA actuators. In this paper, an adaptive neuro-fuzzy inference system (ANFIS) is developed to compensate for the hysteretic non-linearity in a mechanism actuates by SMA wires. Experimental data obtained from the mechanism are used to train the ANFIS model. Past output of the system is fed to...
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