基于智能材料的工业机器人执行器控制

2016 57th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON) Pub Date : 2016-10-01 DOI:10.1109/RTUCON.2016.7763156

A. Pumpurs, L. Ribickis

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引用次数: 2

摘要

本文介绍了智能材料和自适应控制概念在小型机器人中的应用。在这个具体的研究中，小尺寸意味着机器人手的跨度从几厘米到几十厘米不等。分析了不同智能材料构建机器人力学的可能性。没有目标来建造特定的机器人，但分析了可能的解决方案。提出了形状记忆合金作动器的控制方法。描述了SMA样品内部温度的估算方法。建立了实验装置并进行了测试测量。分析了该控制方法的动力学特性和能耗。

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The control of smart material based actuators for industrial robots

This paper describes the use of smart materials and adaptronic control concepts in small size robots. Small size in this specific research means that robot hand have the span from several centimeters to some tens of centimeters. The possibility of building robot mechanics using different kind of smart materials are analyzed. There is no target to build the specific robot, but the possible solutions are analyzed. The control method for SMA (Shape Memory Alloy) actuator is proposed. The method for estimating temperature inside the SMA sample is described. The experimental setup is built up and the test measurements are made. The dynamics of control and the energy consumption of proposed control method are analyzed.

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2016 57th International Scientific Conference on Power and Electrical Engineering of Riga Technical University (RTUCON)

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