Control System Using Shape Memory Alloy for a 3D Printed Robotic Arm

With the lowering cost of microcontrollers and their improvement on computational power, electronic control can provide more cost-efficient and unconventional methods of actuation for mechanical structures. The recent cost reduction in 3D printing technology allows for further accessibility in terms of design and test of new concepts. In this paper the authors aim for the most cost-efficient implementation of a 3D printed concept of a robotic hand actuated by shape memory alloy (SMA) wires controlled through a software solution which integrates PID regulator. The current work will present details regarding the initial simulations results and the actual implementation.