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dc.contributor.advisorMukherjee, Ranjan
dc.contributor.authorParkhurst, William T.
dc.dateDecember 1994
dc.date.accessioned2014-08-13T20:26:49Z
dc.date.available2014-08-13T20:26:49Z
dc.date.issued1994-12
dc.identifier.urihttp://hdl.handle.net/10945/42851
dc.descriptionApproved for public release, distribution unlimiteden_US
dc.description.abstractThe purpose of this research is to investigate and develop actuators for a minimally invasive surgical manipulator using a Superelastic Alloy (SEA) as the active element. The actuator, an SEA tube, is designed to take advantage of the transformational psuedoelasticity property found in near equiatomic Ni-Ti alloys. The characteristics of SEA as an actuator are illustrated, with an emphasis on the concept of temperature dependency of stress and strain. This concept is used to develop a theory to control the motion of the individual active elements. With an elevation of temperature comes a change in the resistance that is repeatable but not completely explained to date. This change provides an ideal way to measure temperature for feedback by indirectly measuring resistance. Our design will integrate a series of actuators and a structural skeleton into a manipulator that is intrinsically simple, capable of exerting large forces, compact in size and extremely dexterous.en_US
dc.format.extent41 p.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.titleDesign of a superelastic alloy actuator for a minimally invasive surgical manipulatoren_US
dc.typeThesisen_US
dc.contributor.corporateNaval Postgraduate School (U.S.)
dc.subject.authorNAen_US
dc.description.serviceU.S. Navy (USN) authoren_US
dc.identifier.oclcocn640639770
etd.thesisdegree.nameM.S. in Mechanical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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