A NOVEL DIFFERENTIAL SHAPE-MEMORY ALLOY ACTUATOR FOR POSITION CONTROL

被引：44

作者：

GORBET, RB

RUSSELL, RA

机构：

[1] Department of Electrical and Computer Engineering, University of Waterloo

[2] Intelligent Robotics Research Centre, Monash University, Melbourne

来源：

ROBOTICA | 1995年 / 13卷

关键词：

POSITION CONTROL; SHAPE MEMORY ALLOY; MOBILE HEAT SINK; ROBOT APPLICATIONS;

D O I：

10.1017/S0263574700018853

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper discusses a novel design for a rotary differential NiTi shape memory alloy actuator, which incorporates a mobile heat sink. The new mechanism is described in detail, and its performance in a position control system is compared with that of the same actuator without heat sink. Experimental results are presented which show an improvement in actuator response time, as well as closed-loop bandwidth. The design of the mechanism gives enhanced performance, without the increased power consumption associated with fixed heat sinks. Rotary differential shape memory alloy actuators have been considered for a number of robotics applications, One of their chief drawbacks is their relatively slow operating speed and the actuator mechanism described in this paper goes some way towards addressing this problem.

引用

页码：423 / 430

页数：8

共 10 条

[1]

Duerig T.W., Melton K.N., Stockel D., Wayman C.M., Engineering Aspects of Shape Memory Alloys, (1990)

[2]

Buehler W.J., Gilfrich J.V., Wiley R.C., Effect of low-temperature phase changes on the mechanical properties of alloys near composition TiNi, J. Applied Physics, 34, 5, pp. 1475-1477, (1963)

[3]

Schetky L., Shape memory effect alloys for robotic devices, Robotics Age, 6, 7, pp. 13-17, (1984)

[4]

Nakano Y., Fujie M., Hosada Y., Hitachi's robot hand, Robotics Age, 6, 7, pp. 18-20, (1984)

[5]

Bergamasco M., Salsedo F., Dario P., Shape memory alloy micromotors for direct-drive actuation of dexterous artificial hands, Sensors and Actuators, 17, pp. 115-119, (1989)

[6]

Furuya Y., Shimada H., Shape memory actuators for robotic applications, Engineering Aspects of Shape Memory Alloys, pp. 338-355, (1990)

[7]

Hashimoto M., Takeda M., Sagawa H., Chiba I., Sato K., Application of shape memory alloy to robotic actuators, Robotic Systems, 2, 1, pp. 3-25, (1985)

[8]

Bergamasco M., Salsedo F., Dario P., A linear SMA motor as direct-drive robotic actuator, IEEE International Conference on Robotics and Automation, pp. 618-623, (1989)

[9]

Madill D.R., Modelling and stability of a shape memory alloy position control system, Master's thesis, (1993)

[10]

Kuribayashi K., Improvement of the response of an SMA actuator using a temperature sensor, Int. J. Rob. Res., 10, 1, pp. 13-20, (1991)

← 1 →