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Design of shape memory alloy actuator with high strain and variable structure control

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2 Author(s)
Grant, D. ; Dept. of Electr. Eng., McGill Univ., Montreal, Que., Canada ; Hayward, V.

A novel shape memory alloy (SMA) actuator consisting of a number of thin NiTi fibers woven in a counter rotating helical pattern around supporting disks is first described. This structure can be viewed as a parallel mechanism used to accomplish a highly efficient transformation between force and displacement. The actuator overcomes the main mechanical drawback of shape memory alloys, that being limited strain. Two variable structure controllers are applied to a pair of antagonist actuators. The first involves a switching control input creating a sliding mode in conjunction with a linear control activated within a boundary layer in the vicinity of the set point. The second involves a multistage switching control that simplifies amplifier construction. Experimental performance results in the time domain are discussed

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995