Super elastic alloy (SEA) has good flexibility with moderate rigidity and then is widely used in eyeglasses, bras and so on. SEA’s flexibility is based on the phase transformation between austenite and martensite structures of material metallurgy, and it is known that the transformation can be controlled by heating and cooling the material. The active deformation of SEA is already reported as controllable by the heating and cooling under pre-stressed condition, but it is known that the deformation is on / off control because the material has very strong nonlinearity in their stress-strain relationship. Then the development of smooth control of SEA’s active deformation is studied to realize soft actuator in this report. The smoothness of the control is realized by the multiplying the wires of SEA in actuating unit of 1DOF actuator. The theory of SEA controller is formulated by using the constitutive equation of the metallo-thermo-mechanics which represents the kinetics of phase transformation between austenite and martensite structures. The developed controller with the formulation is applied to actuate 1DOF actuator with multiple wires of SEA for the verification of the realization. The qualitatively match between theory and experimental results is observed here but quantitatively mismatch has occurred in this report. In the discussion of this paper, it is shown that the mismatch is occurred because the formulation is based on the ideal condition without the deformation of actuator unit. Then this report shows that it is important to design the soft actuator not only their actuating element but also the other elements which affect the deformation behavior of the actuator as a total unit.
Skip Nav Destination
ASME 2017 International Mechanical Engineering Congress and Exposition
November 3–9, 2017
Tampa, Florida, USA
Conference Sponsors:
- ASME
ISBN:
978-0-7918-5844-8
PROCEEDINGS PAPER
Force Control Method of Soft Actuator Using Multiple Super Elastic Alloy Wires
Shun Aizawa,
Shun Aizawa
Tokyo University of Agriculture and Technology, Koganei-city, Japan
Search for other works by this author on:
Taichi Nozawa,
Taichi Nozawa
Tokyo University of Agriculture and Technology, Koganei-city, Japan
Search for other works by this author on:
Atsushi Sakuma
Atsushi Sakuma
Kyoto Institute of Technology, Sakyo-ku, Japan
Search for other works by this author on:
Shun Aizawa
Tokyo University of Agriculture and Technology, Koganei-city, Japan
Taichi Nozawa
Tokyo University of Agriculture and Technology, Koganei-city, Japan
Atsushi Sakuma
Kyoto Institute of Technology, Sakyo-ku, Japan
Paper No:
IMECE2017-70709, V009T12A033; 6 pages
Published Online:
January 10, 2018
Citation
Aizawa, S, Nozawa, T, & Sakuma, A. "Force Control Method of Soft Actuator Using Multiple Super Elastic Alloy Wires." Proceedings of the ASME 2017 International Mechanical Engineering Congress and Exposition. Volume 9: Mechanics of Solids, Structures and Fluids; NDE, Structural Health Monitoring and Prognosis. Tampa, Florida, USA. November 3–9, 2017. V009T12A033. ASME. https://doi.org/10.1115/IMECE2017-70709
Download citation file:
12
Views
0
Citations
Related Proceedings Papers
Related Articles
Sliding Mode Control of Mechanical Systems Actuated by Shape Memory Alloy
J. Dyn. Sys., Meas., Control (January,2009)
Efficient Meshfree Formulation for Metal Forming Simulations
J. Eng. Mater. Technol (October,2001)
A Simple Novel Approach to Active Vibration Isolation With Electrohydraulic Actuation
J. Dyn. Sys., Meas., Control (March,2003)
Related Chapters
Structural Evolutions of Nanocrystalline Nial Evtermetallic during Mechanical Alloying Process
International Conference on Mechanical and Electrical Technology, 3rd, (ICMET-China 2011), Volumes 1–3
On the Evaluation of Thermal and Mechanical Factors in Low-Speed Sliding
Tribology of Mechanical Systems: A Guide to Present and Future Technologies
Introduction and Definitions
Handbook on Stiffness & Damping in Mechanical Design