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Shape Memory Alloy (SMA) wires are currently employed in robotics, as well as in actuators for various fields such as prosthetic limbs and medical equipments, where they can be a good alternative to traditional actuators. SMA wires are particularly suitable for simple designed small devices with and high power-to-weight ratio, and are also an optimum(More)
Shape memory alloys are widely used in the fields of robotic systems. They have many advantages such as high power-weight ratio and frictionless and quiet operation. But hysteresis phenomenon is an unsightly effect of shape memory alloys that its compensation is a momentous task in controlling them. We used a self-tuning fuzzy PID method for the force(More)
Shape Memory Alloy (SMA) wires are widely employed in robotics, as actuators of prosthetic limbs and medical equipment. Due to advantages such as reducing the size in the application, high power-to-weight ratio and elimination of complex transmission systems and compatibility with the human body these materials are used as actuators in different types of(More)
Shape Memory Alloy (SMA) wires are currently employed in robotics, rescue operations and medical equipments. Due to advantages such as reducing the size in the application, high power-to-weight ratio, elimination of complex transmission systems and noiseless actuation, and human-machine interface, these materials are used as actuators in robotics such as(More)
In this paper, the fabrication of a gripper actuated by shape memory alloy wire is performed. This system has the advantage of the small linear displacement of the slider connected to the shape memory alloy wire, to convert it into angular movement of the gripping fingers. In this paper, in according to the designing objectives, the structure of gripper is(More)
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