Proceedings of the Korean Society of Precision Engineering Conference (한국정밀공학회:학술대회논문집)
- 2000.11a
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- Pages.72-75
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- 2000
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- 2005-8446(pISSN)
Simulation of an Active Catheter Actuator Using Shape Memory Alloy
형상기억합금을 이요한 능동내시경 작동기의 시뮬레이션
Abstract
This paper presents a simulation study on the description of the motion and the control of an active catheter actuator with multi-link structure actuated by Shape Memory Alloy(SMA). The model of an active catheter adopted in this paper has 3 links, and the individual links are composed of 3 micro coils of SMA for the omni-directional motion. In order to analyze the motions of multi-link structure, 3-dimensional kinematics description is presented. Also, the motion control of the end point of an active catheter using simple Neural Network is shown based on GUI(Graphic User Interface) system.
Keywords