Investigation on pretensioned shape memory alloy actuators for force and displacement self-sensing

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.

[1]  N. Jalili,et al.  Toward Ultrasmall Mass Detection Using Adaptive Self-Sensing Piezoelectrically Driven Microcantilevers , 2007, IEEE/ASME Transactions on Mechatronics.

[2]  C. Clevy,et al.  Modeling, fabrication, and validation of a high-performance 2-DoF piezoactuator for micromanipulation , 2005, IEEE/ASME Transactions on Mechatronics.

[3]  W. Marsden.  I and J , 2012 .

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

[5]  Jia-Yush Yen,et al.  Tracking Control of Shape-Memory-Alloy Actuators Based on Self-Sensing Feedback and Inverse Hysteresis Compensation , 2009, Sensors.

[6]  Gregory N. Washington,et al.  Modeling and sensorless control of an electromagnetic valve actuator , 2006 .

[7]  Kyoung Kwan Ahn,et al.  Internal Model Control for Shape Memory Alloy Actuators using Fuzzy Based preisach Model , 2007, 2007 International Conference on Mechatronics and Automation.

[8]  D. Lagoudas.  Shape memory alloys : modeling and engineering applications , 2008 .

[9]  Tien-I Liu,et al.  Control of Shape Memory Alloy Actuators with a Neuro-fuzzy Feedforward Model Element , 2006, J. Intell. Manuf..

[10]  John T. Wen,et al.  Modeling of a flexible beam actuated by shape memory alloy wires , 1997 .

[11]  Aaas News,et al.  Book Reviews , 1893, Buffalo Medical and Surgical Journal.

[12]  B. Nelson,et al.  Monolithically Fabricated Microgripper With Integrated Force Sensor for Manipulating Microobjects and Biological Cells Aligned in an Ultrasonic Field , 2007, Journal of Microelectromechanical Systems.

[13]  Che-Min Lin,et al.  A shape memory alloy actuated microgripper with wide handling ranges , 2009, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[14]  J. H. Kyung,et al.  Design of a microgripper for micromanipulation of microcomponents using SMA wires and flexible hinges , 2008 .

[15]  Maarja Kruusmaa,et al.  A self-sensing ion conducting polymer metal composite (IPMC) actuator , 2007 .

[16]  Zhaowei Zhong,et al.  Development of a gripper using SMA wire , 2006 .

[17]  Kostyantyn Malukhin,et al.  An Experimental Investigation of the Feasibility of “Self-Sensing” Shape Memory Alloy Based Actuators , 2008 .

[18]  Mingsian R. Bai,et al.  Robust control of a sensorless bass-enhanced moving-coil loudspeaker system , 1999 .

[19]  J. F. Creemer,et al.  Electrothermal microgripper with large jaw displacement and integrated force sensors , 2008, 2008 IEEE 21st International Conference on Micro Electro Mechanical Systems.

[20]  Mohsen Shahinpoor,et al.  IPMC microgripper research and development , 2008 .

[21]  Hyunjae Kang,et al.  Development of a piezoelectric polymer-based sensorized microgripper for microassembly and micromanipulation , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[22]  Hyo Jik Lee,et al.  Evaluation of the characteristics of a shape memory alloy spring actuator , 2000 .

[23]  H. Kang,et al.  Development of a piezoelectric polymer-based sensorized microgripper for microassembly and micromanipulation , 2004 .

[24]  Q. Chen,et al.  Active vibration control of elastic beam by means of shape memory alloy layers , 1996 .

[25]  F. Ghorbel,et al.  Differential hysteresis modeling of a shape memory alloy wire actuator , 2005, IEEE/ASME Transactions on Mechatronics.

[26]  M. Sreekumar,et al.  A generalized analytical approach to the coupled effect of SMA actuation and elastica deflection , 2009 .

[27]  S. Konishi,et al.  Thin flexible end-effector using pneumatic balloon actuator , 2000 .