Preferences help
enabled [disable] Abstract
Number of results
2017 | 131 | 5 | 1274-1279
Article title

Analytical Description of SMA Actuator Dynamics based on Fermi-Dirac Function

Title variants
Languages of publication
The paper deals with possible application of the very promising SMART material - shape memory alloy. At the beginning the laboratory stand for investigation on dynamic behaviour of a SMA linear actuator is presented and results of measurements for the chosen SMA actuator F2000 are depicted and discussed. In the next stage the authors propose to use the so-called Fermi-Dirac function for description of SMA linear actuator dynamics. Applying this function for determining basic performance curve: shortening Δ L versus time t for different loads F requires proper modification of the Fermi-Dirac function and its conversion in the one-parameter family (with parameter F). Coefficients of this family are determined with the help of Hooke-Jeeves optimization algorithm and on the basis of experimental findings separately for activation and deactivation process. The both derived expressions were validated by additional laboratory investigations. Finally, the elaborated descriptions was employed in design procedure of a robot gripper. It was shown that the results of measurements for the gripper prototype are in satisfactory agreement with the results of calculations.
Physical description
  • Silesian University of Technology, Faculty of Electrical Engineering, Chair of Mechatronics, Akademicka 10a, 44-100 Gliwice, Poland
  • Silesian University of Technology, Faculty of Electrical Engineering, Chair of Mechatronics, Akademicka 10a, 44-100 Gliwice, Poland
  • [1] A. Ziółkowski, Habilitation Thesis, IPPT PAN, Warszawa 2006 (in Polish)
  • [2] D. Congalton, Fire Mater. 23, 223 (1999), doi: 10.1002/(SICI)1099-1018(199909/10)23:5%3C223::AID-FAM687%3E3.0.CO;2-K
  • [3] B. Selden, K.-J. Cho, H.H. Assada, in: Int. Conf. Robotics Automation, ICRA '04 IEEE International Conference, 2004, p. 4931, doi: 10.1109/ROBOT.2004.1302499
  • [4] K. Ikuta, in: IEEE International Conference on Robotics and Automation, Vol. 3, Cincinnati (OH) 1990, p. 2156., doi: 10.1109/ROBOT.1990.126323
  • [5] C.Y. Liu, W. H. Liao, in: 2004 IEEE International Conference on Robotics and Biomimetics, Shenyang 2004, p. 601, doi: 10.1109/ROBIO.2004.1521848
  • [6] K.-J. Cho, H.H. Assada, in: Proc. 2005 IEEE International Conference Robotics Automation, 2005, p. 1356, doi: 10.1109/ROBOT.2005.1570304
  • [7] M. Bodnicki, D. Kamiński, Mechatronics 2013, Recent Technological and Scientific Advances, Springer, 2014, doi: 10.1007/978-3-319-02294-9_67
  • [8] M. Kurzawa, D. Stachowiak, Arch. Electr. Eng., to be published
  • [9] O.E. Ozbulut, S. Hurlebaus, Smart Mater. Struct. 20, 015003 (2010), doi: 10.1088/0964-1726/20/1/015003
  • [10] M. Fujii, H. Yokoi, in: Proc. 2003 IEEE Int. Symp. on Computational Intelligence in Robotics and Automation, Vol. 1, Kobe 2003, p. 253, doi: 10.1109/CIRA.2003.1222098
  • [11] K. Kluszczyński, M. Kciuk, COMPEL 32, 1417 (2013), doi: 10.1108/03321641311317211
  • [12] M. Kciuk, K. Chwastek, K. Kluszczyński, J. Szczygłowski, Sens. Actuat. A Phys. 243, 52 (2016), doi: 10.1016/j.sna.2016.02.012
  • [13] P. Kowol, Z. Pilch, Electr. Rev. 91, (2015), doi: 10.15199/48.2015.06.21
Document Type
Publication order reference
YADDA identifier
JavaScript is turned off in your web browser. Turn it on to take full advantage of this site, then refresh the page.