Active stiffness control of a synergistically operated variable stiffness compliant actuator

被引:0
作者
D. Nalini
K. Dhanalakshmi
机构
[1] National Institute of Technology,Department of Instrumentation and Control Engineering
来源
Journal of the Brazilian Society of Mechanical Sciences and Engineering | 2021年 / 43卷
关键词
Shape memory alloy; Synergistic configuration; Variable stiffness; Active compliant; Translational actuator; Stiffness feedback; Adaptive control;
D O I
暂无
中图分类号
学科分类号
摘要
Shape memory alloys (SMAs) have been used as actuators for applications in fields like artificial muscle in robotics, assistive devices, and surgical manipulators. SMA possesses attractive features like inherent stiffness varying property during phase transformation, high force to mass ratio, offer new mechanically simple and flexible designs, making them a potential alternative to conventional compliant/variable stiffness actuation technologies. This paper focuses on the performance analysis of active stiffness control of the synergistically operated translational compliant variable stiffness actuator (STCVSA), which comprises a compressive passive bias spring (coil spring/wave spring) and SMA wire(s) appropriately arranged between two discs and around a shaft. To control the stiffness of the compliant actuator, adaptive control (fuzzy PID and fuzzy SMC) algorithms are designed and implemented. The performances of the STCVSA with the controllers are compared with their conventional forms. It is observed that fuzzy SMC has a better ability to handle uncertainties, disturbances, and parameter variations.
引用
收藏
相关论文
共 50 条
[31]   A compliant mechanism with variable stiffness achieved by rotary actuators and shape-memory alloy [J].
Adel Mekaouche ;
Frédéric Chapelle ;
Xavier Balandraud .
Meccanica, 2018, 53 :2555-2571
[32]   A compliant mechanism with variable stiffness achieved by rotary actuators and shape-memory alloy [J].
Mekaouche, Adel ;
Chapelle, Frederic ;
Balandraud, Xavier .
MECCANICA, 2018, 53 (10) :2555-2571
[33]   THE ACTIVE VARIABLE STIFFNESS CONTROL OF CANTILEVER BEAM BY SMA UNDER TEMPERATURE FIELD [J].
Wang, Lei ;
Yue, Hong-hao ;
Jiang, Jing ;
Yu, Zheng-wang ;
Li, Wen-yuan .
2013 SYMPOSIUM ON PIEZOELECTRICITY, ACOUSTIC WAVES AND DEVICE APPLICATIONS (SPAWDA), 2013, :163-166
[34]   Study of dynamic performance and adaptive control of the variable stiffness actuator with time-varying parameters [J].
Yang, Zemin ;
Li, Xiaopeng ;
Sun, Dan ;
Chen, Renzhen ;
Xu, Wenfeng .
MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES, 2024, 52 (12) :9858-9877
[35]   Design of a Variable-Stiffness Compliant Skin for a Morphing Leading Edge [J].
Wang, Zhigang ;
Yang, Yu .
APPLIED SCIENCES-BASEL, 2021, 11 (07)
[36]   Design and Research of a Variable Stiffness Compliant Joint Based on Torsional Spring [J].
Qu X. ;
Cao D. ;
Zhang S. .
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2021, 57 (13) :114-123
[37]   Stiffness characteristics analysis and variable stiffness control for a permanent magnetic levitation system with variable magnetic circuit [J].
Sun F. ;
Tang J. ;
Li Q. ;
Zhao C. ;
Jin J. .
Zhendong yu Chongji/Journal of Vibration and Shock, 2020, 39 (07) :132-139
[38]   Analysis of a Variable Stiffness Soft Actuator for Lower Back Pain Rehabilitation [J].
Gaafar, Muhammed ;
Magdy, Mahmoud ;
El-Hussieny, Haitham ;
El-Betar, Ahmed .
2024 5TH INTERNATIONAL CONFERENCE ON ARTIFICIAL INTELLIGENCE, ROBOTICS AND CONTROL, AIRC 2024, 2024, :68-72
[39]   Variable Stiffness Linear Actuator Based on Differential Drive Fiber Jamming [J].
Arleo, Luca ;
Lorenzon, Lucrezia ;
Cianchetti, Matteo .
IEEE TRANSACTIONS ON ROBOTICS, 2023, 39 (06) :4429-4442
[40]   Adaptive Absorber Based on Dielectric Elastomer Stack Actuator with Variable Stiffness [J].
Karsten, Roman ;
Schlaak, Helmut F. .
ELECTROACTIVE POLYMER ACTUATORS AND DEVICES (EAPAD) 2012, 2012, 8340