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| Naji, M. |
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| Motta, Antonella |
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| Aletan, Dirar |
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| Mohamed, Tarek |
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| Ertürk, Emre |
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| Taccardi, Nicola |
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| Kononenko, Denys |
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| Petrov, R. H. | Madrid |
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| Alshaaer, Mazen | Brussels |
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| Bih, L. |
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| Casati, R. |
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| Kočí, Jan | Prague |
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| Šuljagić, Marija |
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| Kalteremidou, Kalliopi-Artemi | Brussels |
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| Azam, Siraj |
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| Ospanova, Alyiya |
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| Blanpain, Bart |
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| Ali, M. A. |
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| Rančić, M. |
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| Ollier, Nadège |
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| Azevedo, Nuno Monteiro |
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| Landes, Michael |
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| Rignanese, Gian-Marco |
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Wang, Zhenbi
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Publications (6/6 displayed)
- 2024Manufacture and deformation angle control of a two-direction soft actuator integrated with SMAs
- 2024Manufacturing, development and control of a two-way 3D printed soft actuator actuated with SMAscitations
- 2024Closed-loop control of a 3D printed soft actuator with integrated flex sensors and SMA wirescitations
- 2023Experimental and numerical investigation of 3D printed elastomeric composite with integrated SMA actuatorcitations
- 2023Bewegungsanalyse von interaktiven Elastomer-Verbunden mittels Multi-Sensor-Kamerasystem
- 2022Synthese des Verformungsverhaltens von nachgiebigen Elementen mittels Phasenportrait-Methode
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article
Manufacturing, development and control of a two-way 3D printed soft actuator actuated with SMAs
Abstract
In this contribution, the development of a novel two-way 3D printed soft actuator actuated with shape memory alloys (SMAs) is presented, considering all the stages from the design, manufacturing, control, and implementation. The SMAs are integrated into the 3D printed composite using thermoplastic polyurethane (TPU). In order to measure the deflection of the soft actuator a computer vision system was implemented. With these measures and using system identification techniques, a mathematical model was developed, which describes the dynamics of the prototype and helps to design of a controller. However, precise control of deflection in systems actuated by SMAs is challenging due to their inherent nonlinearities and hysteretic behavior. To face this challenge, a proportional-integral (PI) controller was designed based on robust stability conditions. The effectiveness of the designed PI controller was validated through experimental results.