2DOFSMA actuator X only 2 скачать в хорошем качестве

2DOFSMA actuator X only 2

In this paper, we developed two degree of freedom shape memory alloy (SMA) actuator using SMA springs. This module can be repeated easily for various applications: device holder, artificial finger, grippes, fish robot, and many other biologically inspired applications, where small size and small wight of the actuator are very critical. This actuator is composed of two sets of SMA springs: one set is for the rotation around the X axis (roll angle) and the other set is for the rotation around the Y axis (pitch angle). Each set contains two elements: one SMA spring and one antagonistic SMA spring. We used an inertia sensor (IMU) and two potentiometers for angles feedback. The SMA actuator system is modeled, and simulated using Matlab and then experimentally verified in open-loop and closed-loop control. We used a proportional integrator derivative (PID) controller to follow the set points and to track the desired trajectories. The main goal of the presented controller is to control pitch and yaw angles simultaneously in order to satisfy set points and trajectories in the work space. The experimental results show that the two degree of freedom SMA actuator system follows the desired setpoints with acceptable rise time and overshoot.