Kratz, R. ; Stelzer, M. ; Stryk, Oskar von (2006)
Design, measurement experiments and application of a macroscopic shape memory alloy actuator system.
ACTUATOR 2006 - 10th International Conference on New Actuators. Bremen, Germany (14.06.2006-16.06.2006)
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
Prestrainend shape memory alloys (SMA) change their length when heated above their transformation temperature. Based on this property various micro-technical actuators have been developed in the past. This paper presents the design of novel macroscopic SMA actuators scalable in force and length. Our design approach allows arranging the point of actuation in any direction and ensures a short cool down time to guarantee a high frequency of contraction/stress cycles. The use of the new actuator also necessitates a novel control approach. A model to describe the actuators behavior has been developed and experimentally validated. It offers the possibility of using the resistance of the actuator as a linear position encoder and provides a basis for the control approach of the actuator. The application to a new bipedal walking robot demonstrates one envisioned future use of the actuators. One advantage over electric motors lies in the large variety of user-defined points of actuation of the scalable actuators on a mechanical structure. This allows generating joint movements without the common restrictions holding for electric motors on the possible point of actuation.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2006 |
| Autor(en): | Kratz, R. ; Stelzer, M. ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Design, measurement experiments and application of a macroscopic shape memory alloy actuator system |
| Sprache: | Englisch |
| Publikationsjahr: | Juni 2006 |
| Veranstaltungstitel: | ACTUATOR 2006 - 10th International Conference on New Actuators |
| Veranstaltungsort: | Bremen, Germany |
| Veranstaltungsdatum: | 14.06.2006-16.06.2006 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Prestrainend shape memory alloys (SMA) change their length when heated above their transformation temperature. Based on this property various micro-technical actuators have been developed in the past. This paper presents the design of novel macroscopic SMA actuators scalable in force and length. Our design approach allows arranging the point of actuation in any direction and ensures a short cool down time to guarantee a high frequency of contraction/stress cycles. The use of the new actuator also necessitates a novel control approach. A model to describe the actuators behavior has been developed and experimentally validated. It offers the possibility of using the resistance of the actuator as a linear position encoder and provides a basis for the control approach of the actuator. The application to a new bipedal walking robot demonstrates one envisioned future use of the actuators. One advantage over electric motors lies in the large variety of user-defined points of actuation of the scalable actuators on a mechanical structure. This allows generating joint movements without the common restrictions holding for electric motors on the possible point of actuation. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 28 Okt 2019 11:03 |
| Letzte Änderung: | 28 Okt 2019 11:03 |
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