Design of a 3-DOF Parallel Mechanism with Shape Memory Alloy Actuators.

This research is a study on the application of Shape Memory Alloy (SMA) as
actuators in a 3-DOF parallel manipulator. The objectives of the project include the
designing process of the 3-DOF manipulator, developing a control mechanism for
the SMA actuators and also performing analysis on the finished prototype. The
control strategy chosen is using Arduino programmable microcontroller to produce
Pulse Width Modulation signal (PWM) which is the most ideal control strategy for a
small scale prototype. The SMA actuator design and dimension is also displayed in
the discussion section and the SMA wire selected is Flexinol by Dynalloy Inc. The
research covers the designing process, modeling and up until the fabrication process
of the 3-DOF parallel manipulator.