Mr. Brian A. Selden Profile

Brian A. Selden

at Massachusetts Institute of Technology

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Proceedings Article | 19 May 2005 Paper

Segmented binary control of multi-axis SMA array actuators

Kyu-Jin Cho, Brian Selden, H. Harry Asada

Proceedings Volume 5757, (2005) https://doi.org/10.1117/12.600307

KEYWORDS: Shape memory alloys, Actuators, Binary data, Control systems, Thermoelectric materials, Transmission electron microscopy, Signal processing, Artificial muscles, Data acquisition, Prototyping

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A new approach to designing and controlling multiple artificial muscle actuators using Segmented Binary Control (SBC) is presented and is implemented using shape memory alloys (SMA). SMA actuators are segmented into many independently controlled, spatially discrete volumes, each contributing a small displacement to create a large motion. The segmented architecture of SMA wires is extended to a multi-axis actuator array by arranging them in a two-dimensional array. For multi axis case, the number of segments can be reduced by activating adjacent SMA wires with coupled segments. Coupled segments activate multiple actuators that the segment covers. Although independence of the adjacent SMA wires is reduced to a certain degree, coordinated movements are generated. The shape and position of the coupled segments can be designed using the "similarity" of output trajectories of each actuator. SBC is extended into Hysteresis Loop Control, which reduces the delay in the system by using four different temperatures instead of just two temperatures that the SBC uses. Thermoelectric devices are used to locally heat and cool the SMA wires. Single-axis experimental setup is built to verify and compare the SBC and HLC, and multi-axis array actuator system that uses SBC is built with ten SMA actuators in parallel.

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