Zhenyun Shi

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With the progress of miniaturization, shape memory alloy (SMA) actuators exhibit high energy density, self-sensing ability and ease of fabrication, which make them well suited for practical applications. This paper presents a self-sensing controlled actuator drive that was designed using antagonistic pairs of SMA wires. Under a certain pre-strain and duty(More)
Drilling end-effector is a key unit in autonomous drilling robot. The perpendicularity of the hole has an important influence on the quality of airplane assembly. Aiming at the robot drilling perpendicularity, a micro-adjusting attitude mechanism and a surface normal measurement algorithm are proposed in this paper. In the mechanism, two rounded eccentric(More)
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