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一种使用记忆合金线性致动器的伺服机构的设计与构建。

Design and construction of a servomechanism using a memory alloy linear actuator.

作者信息

Zuñiga Santiago, Bravo Diego, Rengifo Carlos

机构信息

Physics Department, Universidad del Cauca, Colombia.

Instrumentation and Control Department, Universidad del Cauca, Colombia.

出版信息

HardwareX. 2024 Sep 27;20:e00587. doi: 10.1016/j.ohx.2024.e00587. eCollection 2024 Dec.

DOI:10.1016/j.ohx.2024.e00587
PMID:39398531
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11466666/
Abstract

This work shows the design and construction of a servomechanism of a rotator-type joint based on NiTi Shape Memory Alloys (SMA) with an angular position measurement based on a potentiometer sensor and digital electronic position control. The expected application of this prototype is for the use of small charges that emulate the movement of the human being, being bio-inspired and activated by artificial muscles, their potential applications they will be in medical and humanoid robotics. Computer Aided Design (CAD) allows evaluating and validating the most convenient parameters for construction of servomechanism, experimental results validate allowed us to obtain the values of the range of motion and a maximum torque of 1.01 kg-cm exerted on the axis of rotation for the prototype.

摘要

这项工作展示了一种基于镍钛形状记忆合金（SMA）的旋转式关节伺服机构的设计与构建，该机构采用基于电位计传感器的角位置测量和数字电子位置控制。该原型的预期应用是用于模拟人类运动的小负载，受生物启发并由人造肌肉驱动，其潜在应用领域将是医疗和人形机器人技术。计算机辅助设计（CAD）有助于评估和验证构建伺服机构最适宜的参数，实验结果使我们能够获得该原型的运动范围值以及在旋转轴上施加的最大扭矩为1.01千克厘米。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/d669941636d2/gr18.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/cbc976e28939/gr2.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/99dd32a5984b/gr3.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/c95fa31dcb87/gr4.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/c1de06529e51/gr5.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/4b4f367e7ab1/gr6.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/c437072cdcfb/gr7.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/3b5f86eed698/gr8.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/b2b0b182d60a/gr9.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/2b89f6fd19c5/gr10.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/75a7ba67d081/gr11.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/b9977a8d15db/gr12.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/118ad6b50bb1/gr13.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/f182f234b6c4/gr14.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/dadebfd88d02/gr15.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/b28340d96abc/gr16.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/42e1/11466666/d669941636d2/gr18.jpg

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本文引用的文献

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Data-driven adaptive integral terminal sliding mode control for uncertain SMA actuators with input saturation and prescribed performance.具有输入饱和及规定性能的不确定形状记忆合金执行器的数据驱动自适应积分终端滑模控制
ISA Trans. 2022 Sep;128(Pt B):624-632. doi: 10.1016/j.isatra.2021.11.034. Epub 2021 Dec 10.
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Artificial Muscles: Mechanisms, Applications, and Challenges.人工肌肉：原理、应用与挑战。
Adv Mater. 2018 Feb;30(6). doi: 10.1002/adma.201704407. Epub 2017 Dec 18.