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The current article describes the modeling and positional control of a flexible tube manipulator intended for medical applications. The flexible tube is made of polyamide material and its tip is controlled via a calibration-based controller. The configuration is made compact with Shape Memory Alloy (SMA) spring pair as the prime actuators. Two antagonistically connected SMA spring pairs manipulate the flexible tube in 2D and the amount of current required to control the spring is delivered via the controller. The dynamics of the SMA spring pair along with the flexible tube dynamics are presented and the simulation predicts the force transmission capability of the actuator. Thereafter, experimental analysis shows the positional tracking ability of a flexible tube manipulator.

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Simulation and Control of Shape Memory Alloy Spring Actuator in a Flexible Tube Manipulator

  • 会议论文

  • 发表日期：

    2025年

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  • Nisha Bhatt,
  • Vedanshu Seedwan,
  • Samyak Jain,
  • Sanjeev Soni,
  • Ashish Singla

摘要

The current article describes the modeling and positional control of a flexible tube manipulator intended for medical applications. The flexible tube is made of polyamide material and its tip is controlled via a calibration-based controller. The configuration is made compact with Shape Memory Alloy (SMA) spring pair as the prime actuators. Two antagonistically connected SMA spring pairs manipulate the flexible tube in 2D and the amount of current required to control the spring is delivered via the controller. The dynamics of the SMA spring pair along with the flexible tube dynamics are presented and the simulation predicts the force transmission capability of the actuator. Thereafter, experimental analysis shows the positional tracking ability of a flexible tube manipulator.