Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots.
Rapid, Reliable Shape Setting of Superelastic Nitinol for Prototyping Robots.
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DOI：
10.1109/lra.2015.2507706
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发表时间：
2016
影响因子：
5.2
通讯作者：
Webster RJ 3rd
中科院分区：
文献类型：
--
作者：
Gilbert HB;Webster RJ 3rd
形状设置镍钛诺管和线在一个典型的实验室设置用于超弹性机器人是具有挑战性的。获得保持超弹性并表现出所需弹性的样品目前需要多次迭代，这是耗时的并且消耗大量的镍钛诺。为了提供一个更准确和可靠的形状设置的方法，在本文中，我们提出了一种电气技术，使用焦耳加热，以达到必要的形状设置温度。由此产生的高功率加热可防止材料的意外老化，并为快速创建原型提供一致和准确的结果。我们提出了一个完整的算法和系统连同温度调节的实验分析。我们在形状设置为平面曲线的镍钛合金管上通过实验验证了该方法。我们还证明了通过对螺旋管进行形状设置来创建一般空间曲线的可行性。该系统的平均绝对温度误差为10°C。
Shape setting Nitinol tubes and wires in a typical laboratory setting for use in superelastic robots is challenging. Obtaining samples that remain superelastic and exhibit desired precurvatures currently requires many iterations, which is time consuming and consumes a substantial amount of Nitinol. To provide a more accurate and reliable method of shape setting, in this paper we propose an electrical technique that uses Joule heating to attain the necessary shape setting temperatures. The resulting high power heating prevents unintended aging of the material and yields consistent and accurate results for the rapid creation of prototypes. We present a complete algorithm and system together with an experimental analysis of temperature regulation. We experimentally validate the approach on Nitinol tubes that are shape set into planar curves. We also demonstrate the feasibility of creating general space curves by shape setting a helical tube. The system demonstrates a mean absolute temperature error of 10°C.