Design and control of vast DOF wet SMA array actuators
Design and control of vast DOF wet SMA array actuators
复制标题
大自由度湿式 SMA 阵列执行器的设计和控制
DOI：
10.1109/iros.2003.1248944
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
H. Asada
中科院分区：
文献类型：
--
作者：
S. Mascaro;Kyu;H. Asada
提出了一种用于致动器阵列的新概念，其中大量的致动器被包含在小体积内并且在可扩展的意义上被控制。这种大自由度系统利用嵌入流体容器网络内的形状记忆合金线阵列。矩阵歧管和阀门（MMV）系统从热储液器和冷储液器输送流体，以便仅使用2N阀门控制N/sup 2/ SMA致动器阵列。设计并实现了一个包含4 × 4湿SMA致动器阵列的原型MMV系统。提出了一种适用于2N阀控制N/sup 2/执行器的MMV系统的控制策略。两种不同的协议和评估。在一定的输入条件下，系统误差无限制地增加，因为所有的致动器不能同时被激活。仿真结果表明，当单个致动器被激活的时间为4 × 4阵列的致动器的25%时，系统误差开始出界。
A new concept for an actuator array is presented where a vast number of actuators are contained within a small volume and are controlled in a scalable sense. This vast degree-of-freedom system utilizes an array of shape memory alloy wires embedded within a network of fluidic vessels. A matrix manifold and valve (MMV) system routes fluid from hot and cold reservoirs in order to control an array of N/sup 2/ SMA actuators using only 2N valves. A prototype MMV system containing a 4 by 4 array of wet SMA actuators is designed and implemented. Control strategies suitable for controlling MMV system that uses 2N valves to control N/sup 2/ actuators are presented. Two different protocols are presented and evaluated. The system error increases without bound under certain input conditions, since all the actuators cannot be activated at the same time. Simulations show that system error starts to go out of bound when the individual actuator is activated 25% of the time for the 4 by 4 arrays of the actuators.