Alloy Actuator(合金执行器)研究综述
Alloy Actuator 合金执行器 - Cascade utilization of heat relies on a gradient of transition temperature inside the shape memory alloy actuator that best matches the temperature profile of the material during operation. [1] The soft robot is mainly composed of a shape memory alloy actuator and four electrostatic pads acting as the lock/release structures. [2] In this article, a novel shape memory alloy actuator, in the form of a rod, is introduced, and an adaptive model predictive control system is designed for position control of the developed actuator. [3] In addition, a self-tuning fuzzy proportional-integral-derivative controller was designed for controlling the nonlinearity of shape memory alloy actuators. [4] Using such a method, several wireless and battery‐free robotic devices are demonstrated using milli/centimeter‐scale robotic modules, such as a wireless circuit to power light‐emitting diodes with lower external fields, a device to actuate relatively high force‐output shape memory alloy actuators, and a wireless force sensor, all of which can be modified on‐site. [5] We introduce a novel kirigami-inspired structure for mechanical transformation with less strength, integrating a shape memory alloy actuator into the kirigami-inspired for mechanical transformation and hence electromagnetic control. [6] The deployment and the reorientation of the hinge are achieved by exploiting thermally induced stiffness modulation of one of the constituting materials and two antagonistic shape memory alloy actuators. [7] Inclusion of shape memory alloy actuators to the parallel robot brings in control challenges due to its nonlinearity, coupling effects and cocontraction of antagonistic pair of actuators in the mechanism in order to achieve bi directional motion. [8] We characterise the stability of the liquid metal input patterns and demonstrate the potential of the LM-SMC by using it to control bipolar ionic polymer metal composite and shape memory alloy actuators. [9] It has empirically been seen that the nickel titanium alloy actuators are advantageous than their alternatives in terms of the generated strength to weight ratio and shape memory alloy materials can be used as actuators in industrial and biomedical applications. [10] Typical shape memory alloy actuators provide a unique combination of large stresses and strains that result in work-per-volume larger by more than two orders of magnitude than all other actuation methods that are based on active materials. [11] Test results verified the effectiveness of the proposed control scheme to control the system angular position, compensating for the hysteretic behavior of the shape memory alloy actuator. [12] In many cases (lighting, shape memory alloy actuators etc. [13] The response of adaptive structures entailing shape memory alloy actuators is investigated both numerically and experimentally in this work. [14] To achieve these movements, shape memory alloy actuators are embedded into the body of the robot, and by switching on each actuator in turn, the robot moves its front and back feet, imitating a crawling pattern that moves the robot. [15] Recently, laser-powder bed fusion (L-PBF) has been utilized to produce a NiTi shape memory alloy actuator with embedded channels for liquid metal forced fluid convection to increase actuator heat transfer rates. [16] Our method combines stiff shape memory alloy actuators together with the structural design of 3D printed reconfigurable element. [17] In detail, transmitted twist action by the shape memory alloy actuators, aerodynamic effects caused by the induced geometrical change, inertial impact following the motor system integration, and system layout influence on the blade response have been taken into account. [18] Thus, the welding processes have become important allies by promoting the union between shape memory alloy actuators (SMA) with similar and dissimilar ones, which is one way of increasing the useful applications of available materials, especially biomaterials. [19] [20–23] Following the demonstration of foldingbased small wireless robotic devices equipped with shape memory alloy actuators, small pneumatic wireless soft actuators actuated by the pressure produced by liquid–gas phase change are expected to provide another useful component for compact battery-free wireless actuation. [20] The final model consists of a combination of the models from the two stages, which represent the behavior of the shape memory alloy actuator where the input signal is the pulse-width modulation signal and the output signal are the position of the actuator. [21] The latter discloses the enhanced potential of shape memory alloy actuators to provide higher transformation rate and possibly higher fatigue life combined with lower energy demands toward the design and realization of efficient morphing structures. [22] The experimental results show that using excitatory neurons and several inhibitory neurons unevenly distributed on the inputs of the artificial motor neurons that drive the shape memory alloy actuator, the spiking neural network is able to control with high precision the rotation of the arm mobile lever to random target positions even if the arm is slightly loaded. [23] Helical spring shape memory alloy actuators, a common type of actuator, are generally made by torsional loading of a straight wire; however, a stress concentration can result from the loading leading to a reduction of the recovery force. [24] The resonant frequency tuning was conducted by shape memory alloy actuators applying compressive loads to annular metal rubbers so as to change the stiffness of the isolator. [25]热量的级联利用依赖于形状记忆合金致动器内部的转变温度梯度，该梯度与操作期间材料的温度曲线最佳匹配。 [1] 软机器人主要由一个形状记忆合金致动器和四个作为锁定/释放结构的静电垫组成。 [2] 在本文中，介绍了一种新型的形状记忆合金致动器，以杆的形式，并设计了一个自适应模型预测控制系统来控制所开发的致动器的位置。 [3] 此外，设计了一种自整定模糊比例积分微分控制器，用于控制形状记忆合金执行器的非线性。 [4] 使用这种方法，使用毫/厘米级机器人模块演示了几种无线和无电池机器人设备，例如为具有较低外场的发光二极管供电的无线电路，一种驱动相对较高的力输出形状的设备记忆合金致动器和无线力传感器，所有这些都可以在现场进行修改。 [5] 我们引入了一种新颖的剪纸启发结构，用于强度较小的机械转换，将形状记忆合金致动器集成到剪纸启发的机械转换中，从而实现电磁控制。 [6] 铰链的展开和重新定向是通过利用其中一种构成材料和两个对立的形状记忆合金致动器的热诱导刚度调制来实现的。 [7] 将形状记忆合金致动器包含在并联机器人中带来了控制挑战，因为它的非线性、耦合效应和机构中对抗致动器对的协同收缩以实现双向运动。 [8] 我们描述了液态金属输入模式的稳定性，并通过使用它来控制双极离子聚合物金属复合材料和形状记忆合金致动器来展示 LM-SMC 的潜力。 [9] 经验表明，镍钛合金致动器在产生的强度重量比方面比它们的替代品具有优势，并且形状记忆合金材料可用作工业和生物医学应用中的致动器。 [10] 典型的形状记忆合金致动器提供了大应力和应变的独特组合，与基于活性材料的所有其他致动方法相比，每体积工作量大两个数量级以上。 [11] 测试结果验证了所提出的控制方案在控制系统角位置、补偿形状记忆合金致动器的滞后行为方面的有效性。 [12] 在许多情况下（照明、形状记忆合金致动器等）。 [13] 在这项工作中，通过数值和实验研究了需要形状记忆合金致动器的自适应结构的响应。 [14] 为了实现这些运动，形状记忆合金致动器被嵌入到机器人的身体中，通过依次打开每个致动器，机器人移动其前后脚，模仿移动机器人的爬行模式。 [15] 最近，激光-粉末床熔合 (L-PBF) 已被用于生产具有嵌入式通道的 NiTi 形状记忆合金致动器，用于液态金属强制流体对流，以提高致动器的传热率。 [16] 我们的方法将刚性形状记忆合金致动器与 3D 打印可重构元件的结构设计相结合。 [17] 详细地考虑了形状记忆合金致动器的传递扭曲作用、引起的几何变化引起的空气动力学效应、电机系统集成后的惯性冲击以及系统布局对叶片响应的影响。 [18] 因此，焊接工艺通过促进形状记忆合金致动器 (SMA) 与相似和不同的致动器之间的结合而成为重要的盟友，这是增加可用材料，特别是生物材料的有用应用的一种方式。 [19] [20-23] 在展示了配备形状记忆合金致动器的折叠式小型无线机器人设备之后，由液-气相变产生的压力驱动的小型气动无线软致动器有望为紧凑型无电池无线提供另一个有用的组件致动。 [20] 最终模型由两个阶段的模型组合而成，代表形状记忆合金致动器的行为，其中输入信号是脉宽调制信号，输出信号是致动器的位置。 [21] 后者揭示了形状记忆合金致动器的增强潜力，以提供更高的转变率和可能的更高疲劳寿命，同时降低对设计和实现高效变形结构的能量需求。 [22] 实验结果表明，利用在驱动形状记忆合金致动器的人工运动神经元的输入上不均匀分布的兴奋性神经元和几个抑制性神经元，脉冲神经网络能够高精度地控制手臂活动杆的随机转动。目标位置，即使手臂轻微负载。 [23] 螺旋弹簧形状记忆合金致动器，一种常见的致动器，一般是由直线材扭转加载制成；然而，应力集中可能是由于负载导致恢复力降低。 [24] 谐振频率调谐是通过形状记忆合金致动器向环形金属橡胶施加压缩载荷以改变隔离器的刚度来进行的。 [25]
Memory Alloy Actuator 记忆合金执行器
Cascade utilization of heat relies on a gradient of transition temperature inside the shape memory alloy actuator that best matches the temperature profile of the material during operation. [1] The soft robot is mainly composed of a shape memory alloy actuator and four electrostatic pads acting as the lock/release structures. [2] In this article, a novel shape memory alloy actuator, in the form of a rod, is introduced, and an adaptive model predictive control system is designed for position control of the developed actuator. [3] In addition, a self-tuning fuzzy proportional-integral-derivative controller was designed for controlling the nonlinearity of shape memory alloy actuators. [4] Using such a method, several wireless and battery‐free robotic devices are demonstrated using milli/centimeter‐scale robotic modules, such as a wireless circuit to power light‐emitting diodes with lower external fields, a device to actuate relatively high force‐output shape memory alloy actuators, and a wireless force sensor, all of which can be modified on‐site. [5] We introduce a novel kirigami-inspired structure for mechanical transformation with less strength, integrating a shape memory alloy actuator into the kirigami-inspired for mechanical transformation and hence electromagnetic control. [6] The deployment and the reorientation of the hinge are achieved by exploiting thermally induced stiffness modulation of one of the constituting materials and two antagonistic shape memory alloy actuators. [7] Inclusion of shape memory alloy actuators to the parallel robot brings in control challenges due to its nonlinearity, coupling effects and cocontraction of antagonistic pair of actuators in the mechanism in order to achieve bi directional motion. [8] We characterise the stability of the liquid metal input patterns and demonstrate the potential of the LM-SMC by using it to control bipolar ionic polymer metal composite and shape memory alloy actuators. [9] Typical shape memory alloy actuators provide a unique combination of large stresses and strains that result in work-per-volume larger by more than two orders of magnitude than all other actuation methods that are based on active materials. [10] Test results verified the effectiveness of the proposed control scheme to control the system angular position, compensating for the hysteretic behavior of the shape memory alloy actuator. [11] In many cases (lighting, shape memory alloy actuators etc. [12] The response of adaptive structures entailing shape memory alloy actuators is investigated both numerically and experimentally in this work. [13] To achieve these movements, shape memory alloy actuators are embedded into the body of the robot, and by switching on each actuator in turn, the robot moves its front and back feet, imitating a crawling pattern that moves the robot. [14] Recently, laser-powder bed fusion (L-PBF) has been utilized to produce a NiTi shape memory alloy actuator with embedded channels for liquid metal forced fluid convection to increase actuator heat transfer rates. [15] Our method combines stiff shape memory alloy actuators together with the structural design of 3D printed reconfigurable element. [16] In detail, transmitted twist action by the shape memory alloy actuators, aerodynamic effects caused by the induced geometrical change, inertial impact following the motor system integration, and system layout influence on the blade response have been taken into account. [17] Thus, the welding processes have become important allies by promoting the union between shape memory alloy actuators (SMA) with similar and dissimilar ones, which is one way of increasing the useful applications of available materials, especially biomaterials. [18] [20–23] Following the demonstration of foldingbased small wireless robotic devices equipped with shape memory alloy actuators, small pneumatic wireless soft actuators actuated by the pressure produced by liquid–gas phase change are expected to provide another useful component for compact battery-free wireless actuation. [19] The final model consists of a combination of the models from the two stages, which represent the behavior of the shape memory alloy actuator where the input signal is the pulse-width modulation signal and the output signal are the position of the actuator. [20] The latter discloses the enhanced potential of shape memory alloy actuators to provide higher transformation rate and possibly higher fatigue life combined with lower energy demands toward the design and realization of efficient morphing structures. [21] The experimental results show that using excitatory neurons and several inhibitory neurons unevenly distributed on the inputs of the artificial motor neurons that drive the shape memory alloy actuator, the spiking neural network is able to control with high precision the rotation of the arm mobile lever to random target positions even if the arm is slightly loaded. [22] Helical spring shape memory alloy actuators, a common type of actuator, are generally made by torsional loading of a straight wire; however, a stress concentration can result from the loading leading to a reduction of the recovery force. [23] The resonant frequency tuning was conducted by shape memory alloy actuators applying compressive loads to annular metal rubbers so as to change the stiffness of the isolator. [24]热量的级联利用依赖于形状记忆合金致动器内部的转变温度梯度，该梯度与操作期间材料的温度曲线最佳匹配。 [1] 软机器人主要由一个形状记忆合金致动器和四个作为锁定/释放结构的静电垫组成。 [2] 在本文中，介绍了一种新型的形状记忆合金致动器，以杆的形式，并设计了一个自适应模型预测控制系统来控制所开发的致动器的位置。 [3] 此外，设计了一种自整定模糊比例积分微分控制器，用于控制形状记忆合金执行器的非线性。 [4] 使用这种方法，使用毫/厘米级机器人模块演示了几种无线和无电池机器人设备，例如为具有较低外场的发光二极管供电的无线电路，一种驱动相对较高的力输出形状的设备记忆合金致动器和无线力传感器，所有这些都可以在现场进行修改。 [5] 我们引入了一种新颖的剪纸启发结构，用于强度较小的机械转换，将形状记忆合金致动器集成到剪纸启发的机械转换中，从而实现电磁控制。 [6] 铰链的展开和重新定向是通过利用其中一种构成材料和两个对立的形状记忆合金致动器的热诱导刚度调制来实现的。 [7] 将形状记忆合金致动器包含在并联机器人中带来了控制挑战，因为它的非线性、耦合效应和机构中对抗致动器对的协同收缩以实现双向运动。 [8] 我们描述了液态金属输入模式的稳定性，并通过使用它来控制双极离子聚合物金属复合材料和形状记忆合金致动器来展示 LM-SMC 的潜力。 [9] 典型的形状记忆合金致动器提供了大应力和应变的独特组合，与基于活性材料的所有其他致动方法相比，每体积工作量大两个数量级以上。 [10] 测试结果验证了所提出的控制方案在控制系统角位置、补偿形状记忆合金致动器的滞后行为方面的有效性。 [11] 在许多情况下（照明、形状记忆合金致动器等）。 [12] 在这项工作中，通过数值和实验研究了需要形状记忆合金致动器的自适应结构的响应。 [13] 为了实现这些运动，形状记忆合金致动器被嵌入到机器人的身体中，通过依次打开每个致动器，机器人移动其前后脚，模仿移动机器人的爬行模式。 [14] 最近，激光-粉末床熔合 (L-PBF) 已被用于生产具有嵌入式通道的 NiTi 形状记忆合金致动器，用于液态金属强制流体对流，以提高致动器的传热率。 [15] 我们的方法将刚性形状记忆合金致动器与 3D 打印可重构元件的结构设计相结合。 [16] 详细地考虑了形状记忆合金致动器的传递扭曲作用、引起的几何变化引起的空气动力学效应、电机系统集成后的惯性冲击以及系统布局对叶片响应的影响。 [17] 因此，焊接工艺通过促进形状记忆合金致动器 (SMA) 与相似和不同的致动器之间的结合而成为重要的盟友，这是增加可用材料，特别是生物材料的有用应用的一种方式。 [18] [20-23] 在展示了配备形状记忆合金致动器的折叠式小型无线机器人设备之后，由液-气相变产生的压力驱动的小型气动无线软致动器有望为紧凑型无电池无线提供另一个有用的组件致动。 [19] 最终模型由两个阶段的模型组合而成，代表形状记忆合金致动器的行为，其中输入信号是脉宽调制信号，输出信号是致动器的位置。 [20] 后者揭示了形状记忆合金致动器的增强潜力，以提供更高的转变率和可能的更高疲劳寿命，同时降低对设计和实现高效变形结构的能量需求。 [21] 实验结果表明，利用在驱动形状记忆合金致动器的人工运动神经元的输入上不均匀分布的兴奋性神经元和几个抑制性神经元，脉冲神经网络能够高精度地控制手臂活动杆的随机转动。目标位置，即使手臂轻微负载。 [22] 螺旋弹簧形状记忆合金致动器，一种常见的致动器，一般是由直线材扭转加载制成；然而，应力集中可能是由于负载导致恢复力降低。 [23] 谐振频率调谐是通过形状记忆合金致动器向环形金属橡胶施加压缩载荷以改变隔离器的刚度来进行的。 [24]