Research on Bionic Robot Micro Adsorption Mechanism SMA Driven System

In view of the shape memory alloy (SMA) actuation and sensing properties of smart materials, using of SMA output larger driving force in the process of phase transformation, a biasing SMA rigid elastic coupling drive sucker control system has been designed. Using field programmable gate array (FPGA) for generating a pulse width modulated control mode, the resistance detection feedback circuit controls the current feedback, and monitors the pressure of the adsorption mechanism, thus achieving the micro-adsorption mechanism SMA drive control. Experiments show that the system not only has better precision and a certain response speed, but also has good adaptability and self-protection ability.