An Accurately Controlled Antagonistic Shape Memory Alloy Actuator with Self-Sensing

With the progress of miniaturization, shape memory alloy (SMA) actuators exhibit high energy density, self-sensing ability and ease of fabrication, which make them well suited for practical applications. This paper presents a self-sensing controlled actuator drive that was designed using antagonisti...

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Main Authors:	Wang, Tian-Miao, Shi, Zhen-Yun, Liu, Da, Ma, Chen, Zhang, Zhen-Hua
Format:	Online
Language:	English
Published:	Molecular Diversity Preservation International (MDPI) 2012
Online Access:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3435997/

id	pubmed-3435997
recordtype	oai_dc
spelling	pubmed-34359972012-09-11 An Accurately Controlled Antagonistic Shape Memory Alloy Actuator with Self-Sensing Wang, Tian-Miao Shi, Zhen-Yun Liu, Da Ma, Chen Zhang, Zhen-Hua Article With the progress of miniaturization, shape memory alloy (SMA) actuators exhibit high energy density, self-sensing ability and ease of fabrication, which make them well suited for practical applications. This paper presents a self-sensing controlled actuator drive that was designed using antagonistic pairs of SMA wires. Under a certain pre-strain and duty cycle, the stress between two wires becomes constant. Meanwhile, the strain to resistance curve can minimize the hysteresis gap between the heating and the cooling paths. The curves of both wires are then modeled by fitting polynomials such that the measured resistance can be used directly to determine the difference between the testing values and the target strain. The hysteresis model of strains to duty cycle difference has been used as compensation. Accurate control is demonstrated through step response and sinusoidal tracking. The experimental results show that, under a combination control program, the root-mean-square error can be reduced to 1.093%. The limited bandwidth of the frequency is estimated to be 0.15 Hz. Two sets of instruments with three degrees of freedom are illustrated to show how this type actuator could be potentially implemented. Molecular Diversity Preservation International (MDPI) 2012-06-07 /pmc/articles/PMC3435997/ /pubmed/22969368 http://dx.doi.org/10.3390/s120607682 Text en © 2012 by the authors; licensee MDPI, Basel, Switzerland This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
repository_type	Open Access Journal
institution_category	Foreign Institution
institution	US National Center for Biotechnology Information
building	NCBI PubMed
collection	Online Access
language	English
format	Online
author	Wang, Tian-Miao Shi, Zhen-Yun Liu, Da Ma, Chen Zhang, Zhen-Hua
spellingShingle	Wang, Tian-Miao Shi, Zhen-Yun Liu, Da Ma, Chen Zhang, Zhen-Hua An Accurately Controlled Antagonistic Shape Memory Alloy Actuator with Self-Sensing
author_facet	Wang, Tian-Miao Shi, Zhen-Yun Liu, Da Ma, Chen Zhang, Zhen-Hua
author_sort	Wang, Tian-Miao
title	An Accurately Controlled Antagonistic Shape Memory Alloy Actuator with Self-Sensing
title_short	An Accurately Controlled Antagonistic Shape Memory Alloy Actuator with Self-Sensing
title_full	An Accurately Controlled Antagonistic Shape Memory Alloy Actuator with Self-Sensing
title_fullStr	An Accurately Controlled Antagonistic Shape Memory Alloy Actuator with Self-Sensing
title_full_unstemmed	An Accurately Controlled Antagonistic Shape Memory Alloy Actuator with Self-Sensing
title_sort	accurately controlled antagonistic shape memory alloy actuator with self-sensing
description	With the progress of miniaturization, shape memory alloy (SMA) actuators exhibit high energy density, self-sensing ability and ease of fabrication, which make them well suited for practical applications. This paper presents a self-sensing controlled actuator drive that was designed using antagonistic pairs of SMA wires. Under a certain pre-strain and duty cycle, the stress between two wires becomes constant. Meanwhile, the strain to resistance curve can minimize the hysteresis gap between the heating and the cooling paths. The curves of both wires are then modeled by fitting polynomials such that the measured resistance can be used directly to determine the difference between the testing values and the target strain. The hysteresis model of strains to duty cycle difference has been used as compensation. Accurate control is demonstrated through step response and sinusoidal tracking. The experimental results show that, under a combination control program, the root-mean-square error can be reduced to 1.093%. The limited bandwidth of the frequency is estimated to be 0.15 Hz. Two sets of instruments with three degrees of freedom are illustrated to show how this type actuator could be potentially implemented.
publisher	Molecular Diversity Preservation International (MDPI)
publishDate	2012
url	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC3435997/
_version_	1611554906392494080

An Accurately Controlled Antagonistic Shape Memory Alloy Actuator with Self-Sensing

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