Shape memory alloy (SMA) has been utilized as the material of smart actuators due to miniaturization and lightweight. However, nonlinearity hysteresis SMA seriously affect precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed improve performance actuator system. Firstly, nominal model constructed based on physical process. Next, an estimat...

Shape Memory Alloys (SMA’s) are part of a new generation of lightweight, strong and relatively cheap actuators which have the potential to revolutionize the field of biomedical engineering. At present, DC motors are the most widely applied actuators employed in the design of prosthetic devices. These mechanical systems place restrictions on the number of degrees of freedom possible. SMA wires h...

Lightweight structures capable of changing their shape on demand are of interest for a number of applications, including aerospace, power generation, and undersea vehicles. This paper describes a bioinspired cellular metal vertebrate structure which relies on shape memory alloy (SMA) faces to achieve fully reversing shape change. The resulting vertebrate actuators can be combined with flexible ...

Robotic cooperative tasks impose, in many cases, a grasping action. Grasping by coiling it is one of the most versatile action. The present article propose a frequency stability criterion based on the Kahman – Yakubovich – Popov Lemma for the hyper-redundant arms with continuum element that performs the grasping function by coiling. Dynamics of the biomimetical robot during non-contact and cont...

Shape memory alloys (SMAs) offer a high power-to-weight ratio, large recovery strain, and low driving voltages, and have thus attracted considerable research attention. The difficulty of controlling SMA actuators arises from their highly nonlinear hysteresis and temperature dependence. This paper describes a combination of self-sensing and model-based control, where the model includes both the ...

This paper presents the construction of a six-legged bio-mimicking robot. The mechanical design includes the actuation design based on shape memory alloy (SMA) actuators and the locomotive mechanism. The motion control system implements various gaits for the robot to maneuver. The sensors used in the control system include the accelerometer, the compass sensor and the step sensors. We develop a...

Actuators based on the shape memory effect have recently become more and economically important due to many advantages of alloys (SMAs), such as their high energy density. SMAs are usually used control end/maximum positions, thus actuators always move between two positions. The repeatable intermediate positions has so far proven difficult, because in most cases, external sensors necessary deter...

One of the possible actuation principles which were found to be the most promising candidates for highresolution tactile displays is presented. The actuators are based on SMA wire, which includes a clamping mechanism, to overcome high energy consumption and its consequences. A module consisting of 16 taxels in one row, with a distance of 2.54mm separating the taxels, was designed and produced w...

Morphing aircraft are a focus today due to their ability to combine multiple mission flexibility with a single vehicle. The Hyper-Elliptical Cambered Span (HECS) wing is one such wing being developed as a testbed for morphing technologies, due to its ability to vary the spanwise curvature in order to alter a craft’s lift-to-drag performance. Through analysis of the aft-swept wing geometry and r...

the presence of van der waals (vdw) force can lead to mechanical instability in freestanding nano-scale actuators. most of the previous researches in this area have exclusively focused on modeling the instability in actuators with one actuating components. while, less attention has been paid to actuators consist of two actuating components. herein, the effect of the vdw force on the instability...