Modeling of Shape Memory Alloy Actuators Using Matlab and dSpace Platform

2010 ◽  
Vol 166-167 ◽  
pp. 149-154
Author(s):  
Ioan Adrian Cosma ◽  
Vistrian Măties ◽  
Ciprian Lapusan ◽  
Rares Ciprian Mîndru
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Dynamic Model ◽  
Dynamic Equations ◽  
Control Technique ◽  
Positioning System ◽  
Unknown Parameters ◽  
New Approach ◽  
Model Based Control ◽  
Input And Output

The aim of the paper is to describe an approach for modeling the dynamic behavior of a positioning system actuated by two shape memory alloy springs, placed in opposition. The mathematical analysis of the system in order to develop the dynamic model is difficult in this case because of the unknown parameters within the dynamic equations (thermodynamics, change in austenite fraction) and therefore a new approach is presented. Thus, a positioning system is considered, and its behavior is determined using Matlab Software, D-space platform and an optical sensor, which analyses the position/velocity of the moving cart. The dynamic model of the system is determined in order to develop a further model based control technique. The model is generated using system identification toolbox within Matlab and input and output (response) of the considered system.

A hybrid dynamic model of shape memory alloy spring actuators

Measurement ◽  
2018 ◽  
Vol 114 ◽  
pp. 340-353 ◽  
Author(s):  
R. Cortez-Vega ◽  
I. Chairez ◽  
A. Luviano-Juárez ◽  
V. Feliu-Batlle
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Dynamic Model

scholarly journals Seismic Assessment of RC Bridge Columns Retrofitted with Near-Surface Mounted Shape Memory Alloy Technique

Materials ◽  
2020 ◽  
Vol 13 (7) ◽  
pp. 1701 ◽  
Author(s):  
Ammar Abbass ◽  
Reza Attarnejad ◽  
Mehdi Ghassemieh
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Plastic Hinge ◽  
Bridge Columns ◽  
Near Surface ◽  
New Approach ◽  
Seismic Rehabilitation ◽  
Bridge Column ◽  
Near Surface Mounted ◽  
Fiber Element Modeling

From past earthquakes, it has been found that the large residual displacement of bridges after seismic events could be one of the major causes of instability and serviceability disruption of the bridge. The shape memory alloy bars have the ability to reduce permanent deformations of concrete structures. This paper represents a new approach for retrofitting and seismic rehabilitation of previously designed bridge columns. In this concept, the RC bridge column was divided into three zones. The first zone in the critical region of the column where the plastic hinge is possible to occur was retrofitted with near-surface mounted shape memory alloy technique and wrapped with FRP sheets. The second zone, being above the plastic hinge, was confined with Fiber-Reinforced Polymer (FRP) jacket only, and the rest of the column left without any retrofitting. For this purpose, five types of shape memory alloy bars were used. One rectangular and one circular RC bridge column was selected and retrofitted with this proposed technique. The retrofitted columns were numerically investigated under nonlinear static and lateral cyclic loading using 2D fiber element modeling in OpenSees software. The results were normalized and compared with the as-built column. The results indicated that the relative self-centering capacity of RC bridge piers retrofitted with this new approach was highly greater than that of the as-built column. In addition, enhancements in strength and ductility were observed.

An accurate dynamic model for polycrystalline shape memory alloy wire actuators and sensors

2019 ◽  
Vol 28 (2) ◽  
pp. 025020 ◽  
Author(s):  
G Rizzello ◽  
M A Mandolino ◽  
M Schmidt ◽  
D Naso ◽  
S Seelecke
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Dynamic Model ◽  
Shape Memory Alloy Wire ◽  
Alloy Wire

Segmented Binary Control of Shape Memory Alloy Actuators — Feedforward Servo Control

2004 ◽  
Author(s):  
Brian Selden ◽  
Kyu-Jin Cho ◽  
H. Harry Asada
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Transient Response ◽  
Feedback Loops ◽  
Servo Control ◽  
Dramatic Improvement ◽  
New Approach ◽  
Local Feedback ◽  
Binary Control ◽  
And Control

A new approach to the design and control of shape memory alloy (SMA) actuators, called Segmented Binary Control (SBC), is extended from previous work. The transient response of SBC is examined and is discovered to be inadequate in real time servo control because of significant latency times. A dramatic improvement is shown using a feedforward method in which a predetermined path is known and appropriate actions are calculated beforehand. In addition, this feedforward servo control of SMA is accomplished with only internal local feedback loops and no global feedback of position.

Simplification of manipulator dynamic formulations utilizing a dimensionless method

Robotica ◽  
1993 ◽  
Vol 11 (2) ◽  
pp. 139-147 ◽  
Author(s):  
Yueh-Jaw Lin ◽  
Hai-Yan Zhang
Keyword(s):  
Dynamic Model ◽  
Inverse Dynamics ◽  
Equations Of Motion ◽  
Dynamics Simulation ◽  
Dynamic Equations ◽  
New Approach ◽  
Magnitude Comparison ◽  
Dynamic Formulation ◽  
Order Of Magnitude ◽  
Physical Quantities

SUMMARYThis paper presents a new approach for simplifying dynamic equations of motion of robot manipulators by using a nondimensionalization scheme. With this approach the dynamic analysis is done in a nondimensional space. That is, it is required to establish a dimensionless coordinate system in which the dynamic equations of motion of manipulators are formulated. The characteristic parameters of the manipulators are then defined by choosing proper physical quantities as basic units for nondimensionalization. Within the nondimensional space the Lagrange method is applied to the manipulator to obtain a set of general dimensionless equations of motion. This dimensionless dynamic formulation of manipulators leads to an easier way to simplify the dynamic formulation by neglecting insignificant terms using the order of magnitude comparison. The dimensionless dynamic model and its simplified version of PUMA 560 robot are implemented using the proposed approach. It is found that the simplified dynamic model greatly reduces the computation burden of the inverse dynamics. Simulation results also show that the simplified model is extremely accurate. This implies that the proposed nondimensional simplification emethod is reliable.

Modeling and characterization of the shape memory alloy–based morphing wing behavior using proposed rate-dependent Prandtl-Ishlinskii models

2019 ◽  
Vol 234 (4) ◽  
pp. 550-565 ◽  
Author(s):  
Saeid Shakiba ◽  
Aghil Yousefi-Koma ◽  
Mehdi Jokar ◽  
Mohammad Reza Zakerzadeh ◽  
Hamid Basaeri
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
Dead Zone ◽  
Excitation Frequency ◽  
Experimental Results ◽  
Frequency Effect ◽  
Rate Dependency ◽  
Unknown Parameters ◽  
Hysteresis Behavior ◽  
Rate Dependent

Unique features of shape memory alloys make them a proper actuation choice in various control systems. However, their nonlinear hysteresis behavior negatively affects wide utilization of such materials in structure actuation. In this study, the frequency effect on the hysteresis behavior of a shape memory alloy–actuated structure is experimentally investigated, and also two proposed versions of rate-dependent Prandtl-Ishlinskii (modified rate-dependent Prandtl-Ishlinskii and revised modified rate-dependent Prandtl-Ishlinskii) are presented, which are capable of characterizing this phenomenon. Experimental results show that increasing excitation frequency leads to bigger hysteresis loops. It is also proven that rate-dependency cannot be predicted by generalized Prandtl-Ishlinskii model. In addition, a comparison between the dead zone function-based rate-dependent Prandtl-Ishlinskii model as an only benchmark model and the proposed models have been done that proves the proposed models’ superiority. In addition, genetic algorithm is exploited to identify unknown parameters of all models. Trained models performance is also experimentally evaluated at different input frequencies. Comparison between simulation and experimental results indicates that the proposed models can reliably predict saturated, asymmetric, rate-dependent hysteresis behavior, and minor loops in shape memory alloy–embedded actuators.

Helical Kirigami-Inspired Centimeter-Scale Worm Robot With Shape-Memory-Alloy Actuators

2014 ◽  
Author(s):  
Ketao Zhang ◽  
Chen Qiu ◽  
Jian S. Dai
Keyword(s):  
Shape Memory Alloy ◽  
Shape Memory ◽  
The Body ◽  
Helical Motion ◽  
Body Structure ◽  
New Approach ◽  
Sma Actuators ◽  
Parallel Kinematic ◽  
Motion Characteristics

The worm-like robots are capable of imitating the amazing locomotion of the long and thin creature. This paper presents a novel centimeter-scale worm robot inspired by a kirigami-fold which is a variation of origami with helical motion. The body structure is extracted from the kirigami structure and its motion characteristics are analyzed in terms of kinematic principles. This leads to identification of the capability of the segmented worm robot with integrated parallel kirigami structures to imitate contracting motion, omega-shaped bending motion and twisting motion of the locomotion in nature. A prototype of the worm robot with three segments is fabricated with paper-made body structure and actuated by shape-memory-alloy (SMA) coil springs. The robot is lightweight and can be used in confined environments for detection and inspection. The study creates a new approach of integrating SMA actuators in origami-enabled parallel kinematic structures for the development of compliant and miniaturized robots including the presented worm robot.

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