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Proceedings Paper

Design and modeling of an active steerable end effector
Author(s): William M. Aguilera; Mary I. Frecker
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Paper Abstract

A model has been developed in MATLAB to design a new active, steerable end-effector. The end-effector design consists of a number of bimorph actuator sections in series with each active layer being individually controlled. Each section may behave as either a bimorph or a unimorph actuator, where in the case of unimorph one of the active layers is passive. By varying the strength and direction of the electric field across each section, a prescribed overall shape can be achieved to allow the user to steer the device. The focus of ths paper is on the model of the end-effector using electroactive polymer (EAP) materials. In the EAP model, the experimental data for the electrostrictive P(VDF-TrFE) copolymer is used to model the non-linear relationship between the electric field and the induced strain. Due to the large deflections achievable with the EAP, a pseudo rigid-body model for large deflections beams is also used. The behavior of piezoelectric ceramic is compared to that of electro-active polymer (EAP). The target application for this steerable device is a small-scale smart surgical instrument for minimally invasive surgery.

Paper Details

Date Published: 21 August 2001
PDF: 9 pages
Proc. SPIE 4326, Smart Structures and Materials 2001: Modeling, Signal Processing, and Control in Smart Structures, (21 August 2001); doi: 10.1117/12.436502
Show Author Affiliations
William M. Aguilera, The Pennsylvania State Univ. (United States)
Mary I. Frecker, The Pennsylvania State Univ. (United States)

Published in SPIE Proceedings Vol. 4326:
Smart Structures and Materials 2001: Modeling, Signal Processing, and Control in Smart Structures
Vittal S. Rao, Editor(s)

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