Shape memory alloy spring driven manipulator control system

A technology of memory alloy springs and control systems, which is applied to manipulators and manufacturing tools, and can solve problems such as the control system of SMA-driven manipulators that have not been proposed

Inactive Publication Date: 2006-11-01
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the document does not propose such a control system for the SMA-driven manipulator

Method used

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  • Shape memory alloy spring driven manipulator control system
  • Shape memory alloy spring driven manipulator control system
  • Shape memory alloy spring driven manipulator control system

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Embodiment Construction

[0029] The specific embodiment of the present invention will be described with reference to the accompanying drawings.

[0030] See figure 2 , temperature sensor (adopts AB glue to stick on spring 10 and 2 respectively) and displacement sensor (the present invention adopts slide wire rheostat, and its slide bar is connected with slide block 11) the temperature that detects and displacement data are sent into data processing module After data processing, the data processing module sends the output signal to the driving circuit and the switch selection circuit. One input terminal of the drive circuit is connected to the control signal output by the data processing module, and the other terminal is input with 220V grid voltage, and its output current is selectively added to the spring 10 or 2 through the switch selection circuit. The switch selection circuit receives the switch signal of the data processing module, and is used to selectively control the current on and off of th...

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Abstract

A manipulator control system driven by a shape memory alloy spring belongs to the technical field of application of intelligent materials, and in particular relates to the technical field of application of shape memory alloys. It is characterized in that it contains a temperature sensing circuit for detecting the temperature of the above-mentioned shape memory alloy spring; a displacement sensor for detecting the displacement of the shape memory alloy spring; it is used for processing input temperature data and displacement data, and outputting control signals to the drive The data processing module of the circuit and the switch selection circuit is used to provide the voltage applied to the shape memory alloy spring, and to adjust the driving circuit of the voltage in the form of pulse width modulation; to control the voltage applied to the shape memory alloy spring and the fan On-off switch selection circuit. The invention can effectively control the opening and closing state of the shape memory alloy spring driven manipulator.

Description

Technical field: [0001] A manipulator control system driven by a shape memory alloy spring belongs to the technical field of application of intelligent materials, and in particular relates to the technical field of application of shape memory alloys. Background technique: [0002] Shape memory alloy (SMA) is a kind of intelligent material. After the material is set at a high temperature, it is cooled to a low temperature and an external force is applied to make it produce residual deformation. If it is heated to a certain temperature, the residual deformation can be made It disappears and returns to the inherent shape at high temperature, just like remembering the state at high temperature, which has a shape memory effect (SME, Shape Memory Effect). This characteristic of shape memory alloy makes it have self-sensing, self-diagnosis and self-adaptive functions, that is, it has the functions of sensors, controllers and drivers. Compared with other smart materials, shape memor...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J13/00
Inventor 阎绍泽徐峰刘夏杰王金辉
Owner TSINGHUA UNIV
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