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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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| Muller, Hermance |
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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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| Popa, V. |
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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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Cuschieri, Alfred
University of Dundee
in Cooperation with on an Cooperation-Score of 37%
Topics
Publications (11/11 displayed)
- 2018Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wirescitations
- 2017Low power consumption mini rotary actuator with SMA wirescitations
- 2016Liver retraction system by C3-muco-adhesive polymer films for laparoscopic surgerycitations
- 2016Analysis of performance and energy efficiency of thin shape memory alloy wire-based actuators
- 2016A variable impedance actuator using shape memory alloy
- 2015Complaint actuator
- 2014Mucoadhesive polymer films for tissue retraction in laparoscopic surgerycitations
- 2014Mucoadhesive polymer films for tissue retraction in laparoscopic surgery : ex-vivo study on their mechanical propertiescitations
- 2014Mucoadhesive polymer films for tissue retraction in laparoscopic surgery:ex-vivo study on their mechanical propertiescitations
- 2013Neuronal cells loaded with PEI-coated Fe 3 O 4 nanoparticles for magnetically guided nerve regenerationcitations
- 2013Neuronal cells loaded with PEI-coated Fe3O4 nanoparticles for magnetically guided nerve regenerationcitations
Places of action
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article
Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wires
Abstract
Shape memory alloys (SMAs) are smart materials used in robotics because of its light weight and high force-to-weight ratio. The low energy efficiency, up to 5%, has limited their use for large actuators. However, they have shown advantages in the design of mini-robots because of the limited volume required for the actuation system. The present study reports the design and construction of a mini compliant joint (MCJ) with a 2 degrees of freedom (DOFs) intersecting axis. The MCJ<br/>prototype has a 20 mm external diameter surrounding a cavity of 8 mm, weighs 2 g, is 20 mm high and can perform an angle rotation of 30◦ in less than 260 ms. It uses SMA NiTi wires in antagonistic configuration and springs to reduce the energy consumption and minimise heat production. The design methods and experimental results of the manufactured prototype are reported and discussed.