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基于单片机的ESMAA伺服控制系统 被引量：1

The application of SMA actuator to robot
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摘要 介绍了一种新型SMA驱动器 .该驱动器实际上是偏心内嵌有单程SMA丝的弹性硅胶棒 .它集成了驱动单元和执行单元的功能 ,特别适于作为小型和微型机器人系统中的致动元件 .研制了基于 80C196KC单片机的弯曲型ESMAA柔性伺服控制系统 ,实现了基于SMA电阻反馈的PI+ 控制策略探讨和实验研究 . A shape memory alloy (SMA) actuator consisting of a cylindrical rod with embedded one-way SMA wire in a single off-axis was described. The actuators acting as both actuating elements and executing elements were compact enough in miniature robot system. A 80C196KC singlechip-based crooked ESMAA servo system was completed. With position detection and resistance feedback,PI+ control strategy was investigated theoretically and experimentally.
作者 杨凯 辜承林 史铁林 马志云
机构地区 华中科技大学电气与电子工程学院
出处 《华中科技大学学报（自然科学版）》 EI CAS CSCD 北大核心 2004年第4期16-18,共3页 Journal of Huazhong University of Science and Technology(Natural Science Edition)
关键词 记忆合金 弹性棒 驱动器 控制 SMA elastic rod actuator control
分类号 TP273 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献3

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二级参考文献12

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共引文献15

同被引文献9

  • 1王文涛,汪国昭.带形状参数的均匀B样条[J].计算机辅助设计与图形学学报,2004,16(6):783-788. 被引量：83
  • 2杨凯,辜承林.基于SMA智能复合棒的新型驱动器研究[J].华中科技大学学报（自然科学版）,2005,33(3):78-80. 被引量：5
  • 3Elahinia M H,Ashrafiuon H,Ahmadian M,et al.A temperature-based controller for a shape memory alloy actuator[J].Journal of Vibration and Acoustics,2005,127(3):285-291.
  • 4Singh K,Sirohi J,Chopra I.An improved shape memory alloy actuator for rotor blade tracking[J].Journal of Intelligent Material Systems and Structures,2003,14(12):767-786.
  • 5Ikuta K,Tsukamoto M,Hirose S.Shape memory alloy servo actuator system with electric resistance feedback and application for active endoscope[J].IEEE International Conference on Robotics and Automation,1988(20):427-430.
  • 6Moallem M.Deflection control of a flexible beam using shape memory alloy actuators[J].Smart Mater & Struct,2003,12(6):1 023-1 027.
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  • 8陈忠泽,颜国正,林良明,蔡弘.一种新的机械手最优轨迹的规划算法[J].光学精密工程,2001,9(3):242-246. 被引量：8
  • 9刘建芳,杨志刚,程光明,华顺明.压电驱动精密直线步进电机研究[J].中国电机工程学报,2004,24(4):102-107. 被引量：26

引证文献1

华中科技大学学报（自然科学版）
2004年 第4期

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