지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2023.10
- 수록면
- 1,169 - 1,173 (5page)
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초록· 키워드
오류제보하기
Recently, soft actuators have emerged as crucial components in the design of bio-inspired applications such as: exosuits and wearable robots, providing promising capabilities to replicate human-like movement and improving the functionality of robotic systems. This paper presents the design of a novel artificial muscle utilizing a single wire of shape memory alloy (SMA) wound in a spiral pattern.
The actuator consists of two spiral windings of a single continuous SMA wire in two parallel plans (plan A and Plan B). Two groups of roller bearings are arranged in two halves of hexagons shapes for the guidance of the SMA wire in the two spiral shapes, enabling SMA spiral winding, while a third group of roller bearings are movable in middle output stage. This output stage is strategically placed between the two SMA spirals, enabling output motion. When the SMA wire is heated, it contracts, resulting in linear motion of the movable part along the axle (maximum stroke of 25 mm, and maximum load of 7 kgf). The displacement and force exerted by the actuator are adapted by adjusting the length of the SMA wire and the configuration of the output pulleys. Upon cooling, the movable part returns to its initial position under external loading. Moreover, system identification and PID control techniques are employed to enhance the actuator’s control performance. Experimental tests conducted in both open-loop and closed-loop controls validate the actuator’s ability to successfully follow desired trajectories. The key contribution of this work lies in the novel spiral architecture, which offers a vital and practical solution to deal with the limitations related to size and strain of the SMA wire while leveraging the unique properties of SMA technology.
The actuator consists of two spiral windings of a single continuous SMA wire in two parallel plans (plan A and Plan B). Two groups of roller bearings are arranged in two halves of hexagons shapes for the guidance of the SMA wire in the two spiral shapes, enabling SMA spiral winding, while a third group of roller bearings are movable in middle output stage. This output stage is strategically placed between the two SMA spirals, enabling output motion. When the SMA wire is heated, it contracts, resulting in linear motion of the movable part along the axle (maximum stroke of 25 mm, and maximum load of 7 kgf). The displacement and force exerted by the actuator are adapted by adjusting the length of the SMA wire and the configuration of the output pulleys. Upon cooling, the movable part returns to its initial position under external loading. Moreover, system identification and PID control techniques are employed to enhance the actuator’s control performance. Experimental tests conducted in both open-loop and closed-loop controls validate the actuator’s ability to successfully follow desired trajectories. The key contribution of this work lies in the novel spiral architecture, which offers a vital and practical solution to deal with the limitations related to size and strain of the SMA wire while leveraging the unique properties of SMA technology.
목차
Abstract
1. INTRODUCTION
2. ARTIFICIAL MUSCLE ARCHITECTURE
3. MATHEMATICAL MODELING
4. EXPERIMENTAL RESULTS
CONCLUSION
REFERENCES
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