Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2001.11c
- /
- Pages.223-226
- /
- 2001
A Study on the Control of SMA Actuator for Smart Catheter
지능형 내시경용 SMA 엑츄에이터의 제어에 관한 연구
- Kim, Min-Sung (Dept of Electrical Engineering, Dong-A University) ;
- Park, Doo-Hwan (Dept of Electrical Engineering, Dong-A University) ;
- Park, Hyun-Choi (Dept of Electrical Engineering, Dong-A University) ;
-
Lee, Joon-Tark
(Dept of Electrical Engineering, Dong-A University)
- Published : 2001.11.24
Abstract
A SMA actuator fabricated in this paper generates the large force and it's structure is very simple. The SMA actuator was fabricated by small size with diameter of 4mm and length of 38mm and also it's actuations toward all the directions can be acquired because of three SMA springs which was fabricated with diameter of 1.2mm and 30 turns. We showed into applicability to smart catheter by analyzing accurately the dynamic characteristics such as heading angle, bending angle, force, displacement. For verifying control capacity of the fuzzy controller, we compared Fuzzy controller with PID controller by simulation.
Keywords