An accurate self-sensing method for the control of shape memory alloy actuated flexures

Lan, Chao-Chieh; Fan, Chen Hsien

doi:10.1016/j.sna.2010.07.018

Cited by 83 publications

(54 citation statements)

References 23 publications

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“…We prepared two types of actuator samples: one consisted of one DEA on each side, and the other had two DEAs (in (16)- (19), N s = 1 and N s = 2). For each type, three samples were prepared and the average of the measured value was taken for the characterization.…”

Section: Characterization 1) Experimental Setupmentioning

confidence: 99%

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A Foldable Antagonistic Actuator

Shintake

Rosset

Schubert

et al. 2015

IEEE/ASME Trans. Mechatron.

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Abstract-We report on an actuator based on dielectric elastomers that is capable of antagonistic actuation and passive folding. This actuator enables foldability in robots with simple structures. Unlike other antagonistic dielectric elastomer devices, our concept uses elastic hinges to allow the folding of the structure, which also provides an additional design parameter. To validate the actuator concept through a specific application test, a foldable elevon actuator with outline size of 70 mm × 130 mm is developed with angular displacement range and torque specifications matched to a 400-mm wingspan micro-air vehicle (MAV) of mass 130 g. A closed-form analytical model of the actuator is constructed, which was used to guide the actuator design. The actuator consists of 125-μm-thick silicone membranes as the dielectric elastomers, 0.2-mm-thick fiberglass plate as the frame structure, and 50-μm-thick polyimide as the elastic hinge. We measured voltage-controllable angular displacement up to ±26• and torque of 2720 mN · mm at 5 kV, with good agreement between the model and the measured data. Two elevon actuators are integrated into the MAV, which was successfully flown, with the foldable actuators providing stable and well-controlled flight. The controllability was quantitatively evaluated by calculating the correlation between the control signal and the MAV motion, with a correlation in roll axis of over 0.7 measured during the flights, illustrating the high performance of this foldable actuator.Index Terms-Antagonistic, artificial muscle, dielectric elastomer actuators (DEAs), foldable actuator, micro air vehicle.

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Section: Characterization 1) Experimental Setupmentioning

confidence: 99%

“…SMAs exhibit high stress, self-sensing capabilities [19], and are able to provide compliance in spring configurations despite their high modulus of elasticity [20]. The response speed of SMAs is relatively slow, and there is hysteresis in an actuation cycle.…”

mentioning

confidence: 99%

A Foldable Antagonistic Actuator

Shintake

Rosset

Schubert

et al. 2015

IEEE/ASME Trans. Mechatron.

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show abstract

“…Among these SMA posses the advantages of high strain and the highest power density [2]. Other advantages offered by the SMA devices are their compliance with harsh environments, the simplicity of their actuation mechanisms, their silent and smooth motion, and their autosensing ability [3]. These factors make SMA a promising candidate among the actuators [4].…”

Section: Introductionmentioning

confidence: 99%

Fuzzy based sliding surface for shape memory alloy wire actuated classical super-articulated control system

Nakshatharan

Dhanalakshmi

Ruth

2015

Applied Soft Computing

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“…6 Moreover, in addition to temperature, stress can also affect the on-time electric resistance value of an SMA. 7 Many groups 6,[8][9][10][11][12][13] have developed actuators that use resistance as a sensor, and most of these studies focused on wirespring actuators. Since the driving unit is inactive, achieving sufficient simultaneous stiffness and compactness with a spring is difficult.…”

Section: Introductionmentioning

confidence: 99%

A fuzzy PID-controlled SMA actuator for a two-DOF joint

Shi¹,

Wang²,

Liu³

et al. 2014

Chinese Journal of Aeronautics

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Shape memory alloy (SMA) actuator is a potential advanced component for servosystems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom (DOF) and a mobility range close to ±60°when driven by SMA triple wires. The fuzzy proportional-integral-derivative (PID)-controlled actuator drive was designed using antagonistic SMA triple wires, and the resistance feedback signal made a closed loop. Experiments showed that, with the driving responding frequency increasing, the overstress became harder to be avoided at the position under the maximum friction force. Furthermore, the hysteresis gap between the heating and cooling paths of the strain-to-resistance curve expanded under this condition. A fuzzy logic control was considered as a solution, and the curves of the wires were then modeled by fitting polynomials so that the measured resistance was used directly to determine the control signal. Accurate control was demonstrated through the step response, and the experimental results showed that under the fuzzy PID-control program, the mean absolute error (MAE) of the rotation angle was about 3.147°. In addition, the investigation of the external interference to the system proved the controllable maximum output.

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An accurate self-sensing method for the control of shape memory alloy actuated flexures

Cited by 83 publications

References 23 publications

A Foldable Antagonistic Actuator

A Foldable Antagonistic Actuator

Fuzzy based sliding surface for shape memory alloy wire actuated classical super-articulated control system

A fuzzy PID-controlled SMA actuator for a two-DOF joint

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