Development of a novel manipulator system using thermoelectrically driven SMA actuators

使用热电驱动 SMA 执行器开发新型机械手系统

• 批准号: 14350115
• 负责人: LUO Yun
• 金额: $ 10.75万
• 依托单位: Tohoku University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2002
• 资助国家: 日本
• 起止时间: 2002 至 2005
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-14350115/
• 关键词: manipulator; shape memory alloy; thermoelectric element; modeling; phase transformation; 義肢; 人工筋肉

A novel manipulator system which has the features of light weight and rapid response has been developed using thermoelectrically driven shape memory alloy actuator.■The dependencies of recovery forces of shape memory alloy (SMA) on the temperature and restraining conditions were experimentally investigated. Mathematic model to describe the recovery force changes was proposed based on the restraining strain related stress distribution in SMA. To account the multiple phase domains during an inhomogeneous transformation in SMA we introduced independence phase fraction into the model, so that the mechanical behavior of SMA actuators in a real thermal ambience was able to be simulated. The model has been proven valid for the control of mechanical output of SMA actuators with temperature inputs.■With the similar concept a model to describe the free deformation behavior of SMA actuators was established with the dependencies on the hysteretic changes of both the temperature and phase transformation being taken into account. In consequence, the free deformation of SMA actuators was able to be controlled by the temperature control.■SMA manipulators driven by thermoelectric elements were prototyped. A closed-loop control of the temperature in SMA was developed. With the PID temperature control the overshoot and the steady-state error were sufficiently small, leading to the precise mechanical outputs like free deformation and grasping forces. The finger-like manipulator can grasp subjects of 10 times as heavy as its weight. The use of thermoelectric elements decreased the response time of the manipulator to one third of that in natural cooling.

采用热电驱动的形状记忆合金作动器，研制了一种新型的机械手系统，该系统具有重量轻、响应快等特点。■实验研究了形状记忆合金（SMA）的回复力与温度和约束条件的关系。基于SMA中约束应变相关的应力分布，建立了描述回复力变化的数学模型。为了考虑SMA非均匀相变过程中的多相域，引入了独立相分数，从而模拟了SMA致动器在真实的热环境中的力学行为。该模型已被证明是有效的SMA驱动器的机械输出与温度输入的控制。■利用类似的概念，建立了一个模型来描述SMA驱动器的自由变形行为，考虑到滞后变化的温度和相变的依赖关系。因此，SMA驱动器的自由变形能够通过温度控制来控制。■由热电元件驱动的SMA机械手原型。开发了SMA温度的闭环控制。通过PID温度控制，超调量和稳态误差足够小，导致精确的机械输出，如自由变形和抓取力。手指状的机械手可以抓住10倍于其重量的物体。热电元件的使用减少了机械手的响应时间的三分之一，在自然冷却。

项目成果

Modeling and Numerical Simulation on Thermomechanical Behavior of SMA Plates with Two-Way Shape Memory Effect

• DOI: 10.1177/104538901400438019
• 发表时间: 2001-11
• 期刊: Journal of Intelligent Material Systems and Structures
• 影响因子: 2.7
• 作者: T. Takagi;Yun Luo;Shunji Suzuki;M. Matsumoto;J. Tani

One-dimensional modeling of stress-induced transformation behaviour of shape memory alloy

形状记忆合金应力诱导相变行为的一维建模

• 发表时间: 2004
• 期刊: 5th Japan France Seminar on Intelligent Materials and structures
• 作者: Takeshi OKUYAMA;Kumiko YAKUWA;Yun LUO;Masaru HIGA;Toshiyuki TAKAGI;羅 雲;Takeshi Okuyama;Yun Luo;Yun Luo;Takeshi Okuyama
• 通讯作者: Takeshi Okuyama

Modeling the mechanical behavior of SMA Manipulator

SMA 机械手的机械行为建模

• 发表时间: 2005
• 期刊: Proceedings of ISEM 2005(12th International Symposium on Interdisciplinary Electromagnetic, Mechanic & Biomedical Problems
• 作者: Takeshi Okuyama;Takeshi Okuyama;Takeshi Okuyama
• 通讯作者: Takeshi Okuyama

形状記憶合金の相変態をともなう変形挙動のモデリング

形状记忆合金相变伴随的变形行为建模

• 发表时间: 2004
• 期刊: 日本機械学会第17回計算力学講演会講演論文集
• 作者: Takeshi OKUYAMA;Kumiko YAKUWA;Yun LUO;Masaru HIGA;Toshiyuki TAKAGI;羅 雲;Takeshi Okuyama;Yun Luo;Yun Luo;Takeshi Okuyama;奥山 武志
• 通讯作者: 奥山 武志

Evaluation of deformation of SMA actuators

SMA 执行器变形评估

• 发表时间: 2004
• 期刊: Proc.of 39^<th> meeting of JSME Tohoku Branch No.041-1
• 作者: Kumiko Yakuwa;Yun Luo;Toshiyuki Takagi
• 通讯作者: Toshiyuki Takagi