Multi-link endoscopic manipulator robot actuated by shape memory alloys spring actuators controlled by a sliding mode
Abstract
The aim of this study was to design and evaluate a prototype of a snake-like endoscopic manipulator robot (SLEMR) and its corresponding automatic controller based on the first order sliding mode theory. The SLEMR was controlled with a set of actuators made of shape memory alloys (SMA). The SLEMR device was constructed with a sequential arrangement of links interconnected by a two degree-of-freedom joint. A parallel agonist–antagonist...
Paper Details
Title
Multi-link endoscopic manipulator robot actuated by shape memory alloys spring actuators controlled by a sliding mode
Published Date
Nov 1, 2020
Journal
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