Investigation on pretensioned shape memory alloy actuators for force and displacement self-sensing
Start Page
3043
End Page
3048
ISBN (of the container)
9781424466757
Date Issued
2010
Author(s)
Fan, Chen Hsien
Abstract
This paper investigates and realizes the self-sensing capability of shape memory alloy (SMA) actuators. SMA exhibits large stroke, high energy density, and requires low driving voltage. To make SMA more applicable to small scale robotic manipulations, its motion control using accurate self-sensing is necessary. The presented technique builds a self-sensing model by measuring the SMA electrical resistance. Effects of pretension force on strain and force self-sensing are investigated. The model is polyfitted to replace sensor electronics for strain or force feedback. A pretensioner is specifically designed to provide sufficient pretension force without affecting the subject to be actuated. The advantages gained from using polyfitted self-sensing models are demonstrated through several step response control experiments. With the merits shown, we expect this technique can be utilized for SMA actuators in meso to micro scale applications.
Event(s)
23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Subjects
Flexural Manipulator
Hysteresis Model
Self-sensing Actuators
Shape Memory Alloy
Electrical Resistances
Flexural Manipulator
Force Feedback
High Energy Densities
Hysteresis Models
Large-stroke
Low Driving Voltage
Micro-scales
Pretensioned
Response Control
Robotic Manipulation
Self-sensing
Self-sensing Actuators
Sensor Electronics
Shape Memory Alloy
Shape Memory Alloy Actuators
Sma Actuators
Small Scale
Actuators
Alloys
Hysteresis
Manipulators
Robotics
Shape Memory Effect
Intelligent Robots
SDGs
Description
23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010. Taipei. conference code:83389
Type
conference paper