A shape memory alloy spring-based actuator with stiffness and position controllability

In this paper, a one-degree-of-freedom actuator that is based on shape memory alloy (SMA) springs is developed and tested. The use of SMA springs allows a larger actuation workspace and controllable stiffness than SMA wires. It is shown that the actuator demonstrates a good positioning accuracy in addition to a higher level of stiffness control. A strategy based on the variable structure control method is implemented for simultaneous displacement and stiffness control. It is shown that the actuator’s position is always kept within a boundary layer defined around the desired position while a preferred stiffness is also obtained in the actuator. Such an actuator could be used to develop flexible mechanical systems which need to adapt to environmental changes in the form of external loading variation.

[1]  Eric Williams,et al.  An Automotive SMA Mirror Actuator: Modeling, Design, and Experimental Evaluation , 2008 .

[2]  George G. Adams,et al.  Modeling and simulation of an artificial muscle and its application to biomimetic robot posture control , 2002, Robotics Auton. Syst..

[3]  K. Kuribayashi.  Millimeter-sized joint actuator using a shape memory alloy , 1989 .

[4]  M. Elahinia.  Effect of System Dynamics on Shape Memory Alloy Behavior and Control , 2004 .

[5]  Ma Pei-sun,et al.  A prototype micro-wheeled-robot using SMA actuator , 2004 .

[6]  R. Andrew Russell,et al.  A novel differential shape memory alloy actuator for position control , 1995, Robotica.

[7]  K. Tanaka.  A THERMOMECHANICAL SKETCH OF SHAPE MEMORY EFFECT: ONE-DIMENSIONAL TENSILE BEHAVIOR , 1986 .

[8]  Chi-Hsu Wang,et al.  Design of fuzzy walking pattern (FWP) for a shape memory alloy (SMA) biped robot , 1998, SMC'98 Conference Proceedings. 1998 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.98CH36218).

[9]  K. J. Gabriel,et al.  A micro rotary actuator using shape memory alloys , 1988 .

[10]  Sarah K. Spurgeon,et al.  Sliding Mode Control , 1998 .

[11]  Edward J. Park,et al.  A shape memory alloy-based tendon-driven actuation system for biomimetic artificial fingers, part I: design and evaluation , 2009, Robotica.

[12]  C. Liang,et al.  Design of Shape Memory Alloy Springs with Applications in Vibration Control , 1997 .

[13]  Aghil Yousefi-Koma,et al.  Developing a novel SMA-actuated robotic module , 2010 .

[14]  Jean-Paul Lallemand,et al.  A peculiar flip-flop actuator for an in-pipe microrobot , 2004, Robotica.

[15]  L. Brinson.  One-Dimensional Constitutive Behavior of Shape Memory Alloys: Thermomechanical Derivation with Non-Constant Material Functions and Redefined Martensite Internal Variable , 1993 .

[16]  Fritz B. Prinz,et al.  Scalable rotary actuators with embedded shape memory alloys , 2001, SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring.

[17]  Seung-Bok Choi,et al.  Force tracking control of a flexible gripper featuring shape memory alloy actuators , 2001 .

[18]  Hashem Ashrafiuon,et al.  Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy , 2009 .

[19]  Hashem Ashrafiuon,et al.  Nonlinear Control of a Shape Memory Alloy Actuated Manipulator , 2002 .

[20]  Gangbing Song,et al.  Position control of shape memory alloy actuators with internal electrical resistance feedback using neural networks , 2004 .

[21]  Craig A. Rogers,et al.  One-Dimensional Thermomechanical Constitutive Relations for Shape Memory Materials , 1990 .

[22]  Yan Yang,et al.  Simulation and design of SMA muscle , 2007, 2007 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[23]  Joël Abadie,et al.  Modeling of a new SMA micro-actuator for active endoscopy applications , 2009 .

[24]  Yoshimaru Tanaka,et al.  A rotary actuator using shape memory alloy for a robot -analysis of the response with load , 1991, Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91.

[25]  Chi-Hsu Wang,et al.  Design of a fuzzy walking pattern (FWP) for a shape memory alloy (SMA) biped robot , 1999 .

[26]  Vincent Hayward,et al.  Variable structure control of shape memory alloy actuators , 1997 .

[27]  Keisuke Yamamoto,et al.  Multi-link active catheter snake-like motion , 1996, Robotica.

[28]  Yang Kai,et al.  Research and application of Entirely-integrated Spatial-bending Shape Memory Alloy Actuator , 2007, 2007 International Conference on Electrical Machines and Systems (ICEMS).

[29]  Xiujie Gao,et al.  Phase diagram kinetics for shape memory alloys: a robust finite element implementation , 2007 .

[30]  Byungkyu Kim,et al.  An earthworm-like micro robot using shape memory alloy actuator , 2006 .

[31]  E.T. Esfahani,et al.  Stable Walking Pattern for an SMA-Actuated Biped , 2007, IEEE/ASME Transactions on Mechatronics.

[32]  Eduardo A. Tannuri,et al.  Modeling, control and experimental validation of a novel actuator based on shape memory alloys , 2009 .

[33]  K. Yang,et al.  Modelling, simulation and experiments of novel planar bending embedded SMA actuators , 2008 .

[34]  M. Moallem,et al.  Nonlinear Position Control of Antagonistic Shape Memory Alloy Actuators , 2007, 2007 American Control Conference.

[35]  Shaoze Yan,et al.  A Gripper Actuated by a Pair of Differential SMA Springs , 2007 .