A continuum manipulator with phase changing alloy

Farshid Alambeigi, Reza Seifabadi, Mehran Armand

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A new type of cable-driven continuum manipulator (CM) is presented, in which the stiffness of the device along its body length can be controlled using the thermomechanical properties of a phase changing alloy. The liquid phase of the alloy is used for achieving high dexterity and the solid phase for high stiffness. Joule heating and water cooling is used for transitioning the phase changing alloy between stiff and compliant states. Single-segment and two-segment working prototypes of the CM are demonstrated. The mechanical and thermodynamic features of these prototypes are discussed and their physical performance is investigated. Advantages of the presented design with phase changing alloy include: significantly improved dexterity, high payload to weight ratio, controllable stiffness, energy efficiency, and a large lumen.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Robotics and Automation, ICRA 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages758-764
Number of pages7
Volume2016-June
ISBN (Electronic)9781467380263
DOIs
StatePublished - Jun 8 2016
Event2016 IEEE International Conference on Robotics and Automation, ICRA 2016 - Stockholm, Sweden
Duration: May 16 2016May 21 2016

Other

Other2016 IEEE International Conference on Robotics and Automation, ICRA 2016
CountrySweden
CityStockholm
Period5/16/165/21/16

Fingerprint

Manipulators
Stiffness
Joule heating
Cooling water
Energy efficiency
Cables
Thermodynamics
Liquids

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Alambeigi, F., Seifabadi, R., & Armand, M. (2016). A continuum manipulator with phase changing alloy. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016 (Vol. 2016-June, pp. 758-764). [7487204] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2016.7487204

A continuum manipulator with phase changing alloy. / Alambeigi, Farshid; Seifabadi, Reza; Armand, Mehran.

2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Vol. 2016-June Institute of Electrical and Electronics Engineers Inc., 2016. p. 758-764 7487204.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Alambeigi, F, Seifabadi, R & Armand, M 2016, A continuum manipulator with phase changing alloy. in 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. vol. 2016-June, 7487204, Institute of Electrical and Electronics Engineers Inc., pp. 758-764, 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, Stockholm, Sweden, 5/16/16. https://doi.org/10.1109/ICRA.2016.7487204
Alambeigi F, Seifabadi R, Armand M. A continuum manipulator with phase changing alloy. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Vol. 2016-June. Institute of Electrical and Electronics Engineers Inc. 2016. p. 758-764. 7487204 https://doi.org/10.1109/ICRA.2016.7487204
Alambeigi, Farshid ; Seifabadi, Reza ; Armand, Mehran. / A continuum manipulator with phase changing alloy. 2016 IEEE International Conference on Robotics and Automation, ICRA 2016. Vol. 2016-June Institute of Electrical and Electronics Engineers Inc., 2016. pp. 758-764
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