SavedAdd your journal

Journals / Istanbul University Journal of Electrical and Electronics Engineering / 2005 / Cilt: 5 - Sayı: 1

Variable structure controller of novel embedded SMA actuators

Gu CHENGLIN
Yang KAI
Pages
1255–1263
Publication Date
2022-10-18
DOI
—
🏛️Bibliographic metadata and full text access for this article are provided via DergiPark.
DergiPark Record ↗
✨

AI Summary & Key Takeaways

AI Insight
⚡ TL;DR(Too Long; Didn't Read)

It was verified that the controller could realize smooth and robust control of the actuators.

📌 3 Key Takeaways

🎯
Objective & Hypothesis:A novel shape memory alloy (SMA) actuator consisting of a cylindrical rod with a single off-axis embedded one-way SMA wire is first described.
📊
Key Findings & Data:The actuators, acting as both actuating elements and executing elements, are compact enough to be used in miniature robot system.
💡
Conclusion & Impact:It was verified that the controller could realize smooth and robust control of the actuators.
🔬Design:Modeling & Simulation
📍Scope:Comprehensive Sample
⚙️Variables:Domain Parameters

Abstract

A novel shape memory alloy (SMA) actuator consisting of a cylindrical rod with a single off-axis embedded one-way SMA wire is first described. The actuators, acting as both actuating elements and executing elements, are compact enough to be used in miniature robot system. The practical specifications of the SMA wire and the flexible rod were determined based on a series of formulae. The mechanical properties of the actuator are also investigated. After time domain open loop experiments and simulation, the simple model, a single integrator, is derived. A variable structure controller was then applied to the novel actuator. The feedback switches according to the sign of the curvature error. It was verified that the controller could realize smooth and robust control of the actuators.

🔖

Cite This Article

CHENGLIN, G., KAI, Y. (2022). Variable structure controller of novel embedded SMA actuators. Istanbul University Journal of Electrical and Electronics Engineering, Cilt: 5 - Sayı: 1, 1255–1263. https://ajindex.com/articles/543831

📄 Full Text PDF Viewer

📄

PDF görüntüleyici hazırlanıyor...

References (10)

  1. Dai Honma, Yoshiyuki Miwa, and Nobuhiro Iguchi, “Micro robots and micro mechanisms using shape memory alloy. In Integrated Micro Motion Systems, Micro-machining, Control and Application. Nissin. Aichi. Japan. The Third Toyota conference, Oct. 1989
  2. K.Kuribayashi, “A new actuator of a joint mechanism using TiNi alloy wire”, The Int. Journal of Robotics Research, 4(4), 1986
  3. Minoru Hashimoto, Masanori Takeda. Hirofumi Sagawa Ichiro Chiba and Kimiko Sato, “Application of shape memory alloy to robotic actuators”, Robotic Systems 2(1) 3-25,1985
  4. M. Bergamasco, F. Salsedo and P. Dario, “ A linear SMA motor as direct-drive robotic actuator”, IEEE International Conference on Robotics and Automation, pp 618-623, 1989
  5. D.Yang, G.Lin, and R.Warrington, “A computational model of shape memory alloys for the design and control of micro-actuators” Micromechanical Systems, v4, 1992
  6. K. Ikuta, M. Tsukamoto, and S. Hirose, “Mathematical model and experimentalverification of shape memory alloy for designing micro actuator”, In Proc. of the IEEE MicroElectroMechanical Systems Conference, ppp.103-108, 1991
  7. D. Reynaerts and H. Van Brussel, “Development of a SMA high performance robotic actuator”, In Fifth International Conference on Advanced Robotics, Volume 2, pp. 19-27, New York, NY, 1991
  8. D.R. Madill, “Modelling and stability of a shape memory alloy position control system”, Master's thesis, Applied Science, University of Waterloo, 1993
  9. I. Hunter, S. Lafontaine, J. Hollerbach, and P. Hunter, “Fast reversible NiTi fibers for use in microrobotics”, In Microelectro-mechanical Systems, Nara,Japan, Jan 1991
  10. Lagoudas D C and Tadjbakhsh J G., “Active flexible rods with embedded SMA fibers”, Smart Mater. Struct, (1)162-7, 1992 [11] V. L. Utkin., “Sliding Modes in Control Optimization”, Springer-Verlag, 1992.