Series Ni–Ti shape memory alloy wires with different martensitic–austenitic phase transformation temperatures as an actuator for input shaping control

摘要

Abstract This study presents series shape memory alloy (SMA) wire actuators featuring different martensitic–austenitic phase transformation temperatures for input shaping control of flexible structures, such as compliant robot manipulators. Similar to conventional electric motors, the proposed actuator can generate stair-wise input shaping commands by simply applying a step current input. A practical input shaping control of flexible structures (e.g. beam manipulator) actuated by a series SMA wire actuator with different martensitic–austenitic phase transformation temperatures was proposed, and its ability to suppress residual vibration was successfully validated through simulation and laboratory experiments.