BibTex RIS Cite
Year 2005, Volume: 5 Issue: 1, 1255 - 1263, 28.12.2011

Abstract

References

  • Dai Honma, Yoshiyuki Miwa, and Nobuhiro Iguchi, “Micro robots and micro mechanisms using shape memory alloy. In Integrated Micro Motion Systems, Micro-machining, Control and Application. Nissin. Aichi. Japan.. The Third Toyota conference, Oct. 1989.
  • K.Kuribayashi, “A new actuator of a joint mechanism using TiNi alloy wire”, The Int. Journal of Robotics Research, 4(4), 1986.
  • Minoru Hashimoto, Masanori Takeda. Hirofumi Sagawa Ichiro Chiba and Kimiko Sato, “Application of shape memory alloy to robotic actuators”, Robotic Systems 2(1) 3-25 ,1985.
  • M. Bergamasco, F. Salsedo and P. Dario, “ A linear SMA motor as direct-drive robotic actuator”, IEEE International Conference on Robotics and Automation, pp 618-623, 1989.
  • D.Yang, G.Lin, and R.Warrington, “A computational model of shape memory alloys for the design and control of micro-actuators” Micromechanical Systems, v4, 1992.
  • K. Ikuta, M. Tsukamoto, and S. Hirose, “Mathematical model and experimental verification of shape memory alloy for designing micro actuator”, In Proc. of the IEEE MicroElectroMechanical Systems Conference, ppp.103-108, 1991.
  • D. Reynaerts and H. Van Brussel, “Development of a SMA high performance robotic actuator”, In Fifth International Conference on Advanced Robotics, Volume 2, pp. 19-27, New York, NY, 1991.
  • D.R. Madill, “Modelling and stability of a shape memory alloy position control system”, Master's thesis, Applied Science, University of Waterloo, 1993.
  • I. Hunter, S. Lafontaine, J. Hollerbach, and P. Hunter, “Fast reversible NiTi fibers for use in microrobotics”, In Microelectro-mechanical Systems, Nara,Japan, Jan 1991.
  • Lagoudas D C and Tadjbakhsh J G., “Active flexible rods with embedded SMA fibers”, Smart Mater. Struct, (1)162-7, 1992
  • V. L. Utkin., “Sliding Modes in Control Optimization”, Springer-Verlag, 1992.

VARIABLE STRUCTURE CONTROLLER OF NOVEL EMBEDDED SMA ACTUATORS

Year 2005, Volume: 5 Issue: 1, 1255 - 1263, 28.12.2011

Abstract

A novel shape memory alloy (SMA) actuator consisting of a cylindrical rod with a single off-axis embedded one-way SMA wire is first described. The actuators, acting as both actuating elements and executing elements, are compact enough to be used in miniature robot system. The practical specifications of the SMA wire and the flexible rod were determined based on a series of formulae. The mechanical properties of the actuator are also investigated.   After time domain open loop experiments and simulation, the simple model, a single integrator, is derived. A variable structure controller was then applied to the novel actuator. The feedback switches according to the sign of the curvature error. It was verified that the controller could realize smooth and robust control of the actuators.

References

  • Dai Honma, Yoshiyuki Miwa, and Nobuhiro Iguchi, “Micro robots and micro mechanisms using shape memory alloy. In Integrated Micro Motion Systems, Micro-machining, Control and Application. Nissin. Aichi. Japan.. The Third Toyota conference, Oct. 1989.
  • K.Kuribayashi, “A new actuator of a joint mechanism using TiNi alloy wire”, The Int. Journal of Robotics Research, 4(4), 1986.
  • Minoru Hashimoto, Masanori Takeda. Hirofumi Sagawa Ichiro Chiba and Kimiko Sato, “Application of shape memory alloy to robotic actuators”, Robotic Systems 2(1) 3-25 ,1985.
  • M. Bergamasco, F. Salsedo and P. Dario, “ A linear SMA motor as direct-drive robotic actuator”, IEEE International Conference on Robotics and Automation, pp 618-623, 1989.
  • D.Yang, G.Lin, and R.Warrington, “A computational model of shape memory alloys for the design and control of micro-actuators” Micromechanical Systems, v4, 1992.
  • K. Ikuta, M. Tsukamoto, and S. Hirose, “Mathematical model and experimental verification of shape memory alloy for designing micro actuator”, In Proc. of the IEEE MicroElectroMechanical Systems Conference, ppp.103-108, 1991.
  • D. Reynaerts and H. Van Brussel, “Development of a SMA high performance robotic actuator”, In Fifth International Conference on Advanced Robotics, Volume 2, pp. 19-27, New York, NY, 1991.
  • D.R. Madill, “Modelling and stability of a shape memory alloy position control system”, Master's thesis, Applied Science, University of Waterloo, 1993.
  • I. Hunter, S. Lafontaine, J. Hollerbach, and P. Hunter, “Fast reversible NiTi fibers for use in microrobotics”, In Microelectro-mechanical Systems, Nara,Japan, Jan 1991.
  • Lagoudas D C and Tadjbakhsh J G., “Active flexible rods with embedded SMA fibers”, Smart Mater. Struct, (1)162-7, 1992
  • V. L. Utkin., “Sliding Modes in Control Optimization”, Springer-Verlag, 1992.
There are 11 citations in total.

Details

Primary Language English
Journal Section Articles
Authors

Yang Kaı This is me

Gu Chenglın This is me

Publication Date December 28, 2011
Published in Issue Year 2005 Volume: 5 Issue: 1

Cite

APA Kaı, Y., & Chenglın, G. (2011). VARIABLE STRUCTURE CONTROLLER OF NOVEL EMBEDDED SMA ACTUATORS. IU-Journal of Electrical & Electronics Engineering, 5(1), 1255-1263.
AMA Kaı Y, Chenglın G. VARIABLE STRUCTURE CONTROLLER OF NOVEL EMBEDDED SMA ACTUATORS. IU-Journal of Electrical & Electronics Engineering. December 2011;5(1):1255-1263.
Chicago Kaı, Yang, and Gu Chenglın. “VARIABLE STRUCTURE CONTROLLER OF NOVEL EMBEDDED SMA ACTUATORS”. IU-Journal of Electrical & Electronics Engineering 5, no. 1 (December 2011): 1255-63.
EndNote Kaı Y, Chenglın G (December 1, 2011) VARIABLE STRUCTURE CONTROLLER OF NOVEL EMBEDDED SMA ACTUATORS. IU-Journal of Electrical & Electronics Engineering 5 1 1255–1263.
IEEE Y. Kaı and G. Chenglın, “VARIABLE STRUCTURE CONTROLLER OF NOVEL EMBEDDED SMA ACTUATORS”, IU-Journal of Electrical & Electronics Engineering, vol. 5, no. 1, pp. 1255–1263, 2011.
ISNAD Kaı, Yang - Chenglın, Gu. “VARIABLE STRUCTURE CONTROLLER OF NOVEL EMBEDDED SMA ACTUATORS”. IU-Journal of Electrical & Electronics Engineering 5/1 (December 2011), 1255-1263.
JAMA Kaı Y, Chenglın G. VARIABLE STRUCTURE CONTROLLER OF NOVEL EMBEDDED SMA ACTUATORS. IU-Journal of Electrical & Electronics Engineering. 2011;5:1255–1263.
MLA Kaı, Yang and Gu Chenglın. “VARIABLE STRUCTURE CONTROLLER OF NOVEL EMBEDDED SMA ACTUATORS”. IU-Journal of Electrical & Electronics Engineering, vol. 5, no. 1, 2011, pp. 1255-63.
Vancouver Kaı Y, Chenglın G. VARIABLE STRUCTURE CONTROLLER OF NOVEL EMBEDDED SMA ACTUATORS. IU-Journal of Electrical & Electronics Engineering. 2011;5(1):1255-63.