SGER: Exploratory Research on Wet SMA Array Actuators

在这个项目中，我们正在研究一种可扩展的架构，用于构建数百和数千个形状记忆合金（SMA）致动器，这些致动器安装在一个紧凑的身体中。浸没在特殊流体中的SMA细丝以矩阵形式排列，使得热量可以快速有效地从每个SMA细丝移除并传递到每个SMA细丝。通过这种矩阵架构，仅需要2N个阀来将流体输送到N2个SMA阵列致动器中的每一个。因此，该架构可扩展以构建大量的致动器：20个阀用于100个阵列致动器，30个阀用于225个阵列致动器。在这个探索性的项目中，正在建立一个测试4 × 4（16轴）阵列执行器的测试台，以研究大阵列SMA执行器的动力学和控制，以及调查设计的可扩展性。所提出的方法可以与其他能源，如燃料电池，微型燃气轮机和内燃机，节能。这些能源最终产生热量作为废能，其可以与流体一起收集并用于激活SMA致动器。这种联合能量产生系统有可能彻底改变移动的机器人、汽车和其他移动的平台的设计。由热电联产系统供电的大量SMA阵列致动器将允许移动的平台执行高度复杂的多功能任务。就像生物一样，机器人有一天会跑、跳和飞，如果大自由度的执行器技术可以实现的话。

In this project we are investigating a scalable architecture for building hundreds and thousands of Shape Memory Alloy (SMA) actuators housed in a compact body. SMA filaments submerged in special fluids are arranged in matrix form, so that heat can be removed from and delivered to each of the SMA filaments rapidly and efficiently. With this matrix architecture, only 2N valves are needed for delivering fluids to each of N2 SMA array actuators. The architecture is therefore scalable for building a vast number of actuators: 20 valves for 100 array actuators, and 30 valves for 225 array actuators. In this exploratory project a test bed for testing 4 by 4 (16 axes) array actuators is being built in order to study the dynamics and control of the vast array SMA actuators as well as to investigate scalability of the design. The proposed method can be integrated with other energy sources, such as fuel cells, micro gas turbines, and internal combustion engines, for energy saving. These energy sources eventually produce heat as waste energy, which can be collected with fluids and used for activating the SMA actuators. This co-energy generation system has the potential to revolutionize the design of mobile robots, automobiles, and other mobile platforms. The vast number of SMA array actuators powered by a co-generation system would allow a mobile platform to perform highly complex, multifunctional tasks. Like biological creatures, robots will one day be able to run, leap, and fly, if the vast DOF actuator technology becomes available.