Flexible Fingers Based on Shape Memory Alloy Actuated Modules

Maffiodo, Daniela; Raparelli, Terenziano

doi:10.3390/machines7020040

Cited by 15 publications

(12 citation statements)

References 23 publications

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“…Based on relevant research and simulation experiments at home and abroad [6], considering that the ECU needs a certain reaction time to make judgments and execute commands, the sensor trigger time should be less than 15ms. The entire action process of the machine is set within 60ms.…”

Section: Design and Parameters Of The Hood Pop-up Mechanismmentioning

confidence: 99%

SMA trigger hood pop-up mechanism and driving performance

Shen,

Zhang,

et al. 2023

Eighth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023)

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Section: Design and Parameters Of The Hood Pop-up Mechanismmentioning

confidence: 99%

SMA trigger hood pop-up mechanism and driving performance

Shen,

Zhang,

et al. 2023

Eighth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2023)

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“…A locking device proposed by Maffiodo and Raparelli can achieve a locking effect by controlling SMA wires to clamp the cylinder in the gripper. 6 However, the complex control of SMA wires makes the overall control of the system more complicated. Based on this, a new locking device is proposed.…”

Section: Structure and Fabricationmentioning

confidence: 99%

Robot joint module based on universal joint configuration driven by SMA wires

Wang,

Pei,

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Modular robots can adapt to different production needs and working conditions. However, the complexity of structures and the choice of driving modes limit the development of modularization. In this paper, a robot joint module with a universal joint configuration driven by shape memory alloy (SMA) wires is proposed, which has 2-DOFs. For lightweight, the main body of the module is made of polylactic acid materials. SMA wires are used as the actuator due to the advantages of large output displacement, high mass-to-energy ratio, and low activation voltage. Adopting antagonistically arranged SMA wires and bias springs combination method increases the recovery speed and driving angles. A locking device is creatively proposed to avoid the influence of self-biasing spring compression. The detailed kinematic model of the module is established. A proportional integral differential controller is used to precisely control module movements, and the attitude angle sensor is used as the monitoring device. Through the maximum rotation angles and trajectory tracking movement experiments, the module is tested comprehensively, and the results show that the module has good movement characteristics and control precision. In addition, analyzing the tracking performance of the module in the time domain shows that the module has a relatively fast tracking speed. This module is beneficial to the research of configurations, actuators, and controls of modular robots.

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“…It is necessary to consider both the internal energy and the magnetic moment energy of the material in these two magnetization directions. It is assumed that the interaction between magnetic moments is adiabatic, and the temperature is stable below the Curie temperature, the Helmholtz potential energy ψ can be expressed by Equation (6).…”

Section: Theoretical Basis For the Establishment Of The Free Energy Hmentioning

confidence: 99%

“…In the field of intelligent manufacturing, micro-displacement and microactuation technology with an actuation stroke of less than 1mm and a resolution of less than 1µm has a wide range of applications [1,2]. At present, there are some functional materials used in the field of microactuation technology such as piezoelectric materials, shape memory alloys, and giant magnetostrictive material [3][4][5][6][7]. As a new type of functional material, giant magnetostrictive material have some advantages of a strong magnetostrictive effect, a high electromechanical coupling coefficient, high response speed, noncontact drive, and so on, and they are widely used in aerospace, precision control, and intelligent manufacturing fields.…”

Section: Introductionmentioning

confidence: 99%

Construction and Numerical Realization of a Magnetization Model for a Magnetostrictive Actuator Based on a Free Energy Hysteresis Model

Zhang

et al. 2019

Applied Sciences

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Giant magnetostrictive actuators (GMA) driven by giant magnetostrictive material (GMM) has some advantages such as a large strain, high precision, large driving force, fast response, high reliability, and so on, and it has become the research hotspot in the field of microdrives. Research shows there is a nonlinear, intrinsic relationship between the output signal and the input signal of giant magnetostrictive actuators because of the strong coupling characteristics between the machine, electromagnetic field, and heat. It is very complicated to construct its nonlinear eigenmodel, and it is the basis of the practical process of giant magnetostrictive material to construct its nonlinear eigenmodel. Aiming at the design of giant magnetostrictive actuators, the magnetization model based on a free-energy hysteresis model has been deeply researched, constructed, and put forward by Smith, which combines Helmholtz–Gibbs free energy and statistical distribution theory, to simulate the hysteresis model at medium or high driving strengths. Its main input and output parameters include magnetic field strength, magnetization, and mechanical strain. Then, numerical realization and verification of the magnetization model are done by the Gauss–Legendre integral discretization method. The results show that the magnetization model and its numerical method are correct, and the research results provide a theoretical basis for the engineering application of giant magnetostrictive material and optimized structure of giant magnetostrictive material actuators, which have an important practical application value.

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Flexible Fingers Based on Shape Memory Alloy Actuated Modules

Cited by 15 publications

References 23 publications

SMA trigger hood pop-up mechanism and driving performance

SMA trigger hood pop-up mechanism and driving performance

Robot joint module based on universal joint configuration driven by SMA wires

Construction and Numerical Realization of a Magnetization Model for a Magnetostrictive Actuator Based on a Free Energy Hysteresis Model

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