Constrained force control of shape memory alloy actuators

Grant, D. F.; Hayward, Vincent

doi:10.1109/robot.2000.844780

Cited by 33 publications

(28 citation statements)

References 6 publications

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“…We have implemented a version of Grant's two-stage relay controller for antagonistic pairs of SMA elements [3], and incorporated the rapid-heating method into the controller, essentially as shown in Figure 3. The two-stage relay controller implements the following control law:…”

Section: Resultsmentioning

confidence: 99%

“…Overall, the rapid heating mechanism substantially improves the speed, but the tracking accuracy is poor because of large limit cycles. The two-level relay controller is known to suffer from large limit cycles [3], but the larger velocities produced by the rapid heating mechanism appear to exacerbate the problem. A representative example of improved tracking speed is shown in Figure 6.…”

Section: Resultsmentioning

confidence: 99%

“…The main advantage of the new method is that it dispenses with the need for a special sensor co-located with the SMA element. To demonstrate the practical benefit of this method, it was incorporated into a simple motion control system based on Grant's two-stage relay controller [3], and used to control the motions of a pantograph robot actuated by four SMA wires arranged in antagonistic pairs. Experimental results show that the new heating method was able to double the maximum speed of the actuators, compared with a heating regime in which the heating current is limited to the data-sheet value.…”

Section: Introductionmentioning

confidence: 99%

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Improving the Speed of Shape Memory Alloy Actuators by Faster Electrical Heating

Featherstone

Teh

2006

Springer Tracts in Advanced Robotics

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Abstract. This paper describes a method for improving the speed of actuators based on shape memory alloys (SMA) by increasing the rate at which an SMA element can safely be heated. The method consists of measuring the electrical resistance of an SMA element, calculating a maximum safe heating current as a function of measured resistance, and ensuring that the actual heating current does not exceed this maximum value. In effect, resistance is being used as a form of temperature measurement, and the maximum safe heating current is designed to prevent overheating. This method has been incorporated into a two-stage relay controller that controls the motion of a pantograph robot actuated by two antagonistic pairs of SMA wires. Experimental results show a substantial increase in the maximum velocity attainable by this robot, without any change in the cooling regime, purely as a result of faster heating.

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Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Improving the Speed of Shape Memory Alloy Actuators by Faster Electrical Heating

Featherstone

Teh

2006

Springer Tracts in Advanced Robotics

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“…In particular, the actuator design proposed by Grant in [1] and [2] overcomes SMA strain limitation and is generally well suited to the requirements of the project (with the caveat that the power draw per actuator is quite high). Following Grant's work, we use the nickel-titanium alloy Nitinol, the most widely used SMA.…”

Section: Proposed Solutionmentioning

confidence: 99%

Joint Design for a Hyper-Redundant Serial Manipulator

Alonso

Stephenson

Naqvi

2011

PCEEA

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“…Various adaptive control algorithms have been used on SMA actuators in order to compensate for the material's nonlinearities [24][25][26]. Grant and Hayward [27,28] applied variable structure/sliding mode-control methods to perform position and force control tasks. Tebbe, Schroeder, and Butler [29] studied state-space multivariable control in large flexible smart structures using either eigenvalue pole placement or LQR methods.…”

Section: Modeling Dynamics and Control Of Shape Memory Alloy Actuatorsmentioning

confidence: 99%

Development of Advanced Actuators Using Shape Memory Alloys and Electrorheological Fluids

Mavroidis

2002

Research in Nondestructive Evaluation

132

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Abstract. Actuators are used to perform a variety of functions in almost every type of electromechanical system, "smart" device, and instrument. Increasingly, in many applications, actuators need to achieve reduced size, mass, power consumption, and cost. Examples of industries that demand novel, miniature, and powerful actuators are medicine, biotechnology, information technology, space, manufacturing, entertainment, military, and micro-and nanotechnology. Conventional actuators such as DC motors, pneumatic motors, and hydraulic motors are energy-wasting, largevolume, and heavy-mass actuation systems. Novel design methodologies, materials, and paradigms are currently needed in order to develop such lightweight and powerful actuation systems. In this paper we present the development of two novel, compact, and powerful smart material-based advanced actuators. The first motor is a shape memory alloy (SMA) bundle actuator, and the second is a hybrid concept based on electrorheological fluids (ERFs) and electromagnetic components. A detailed review of the state of the art in SMA-and ERF-based actuators is also presented.

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Constrained force control of shape memory alloy actuators

Cited by 33 publications

References 6 publications

Improving the Speed of Shape Memory Alloy Actuators by Faster Electrical Heating

Improving the Speed of Shape Memory Alloy Actuators by Faster Electrical Heating

Joint Design for a Hyper-Redundant Serial Manipulator

Development of Advanced Actuators Using Shape Memory Alloys and Electrorheological Fluids

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