CN111271235B - Mechanical driving platform based on shape memory alloy - Google Patents
Mechanical driving platform based on shape memory alloy Download PDFInfo
- Publication number
- CN111271235B CN111271235B CN202010044758.0A CN202010044758A CN111271235B CN 111271235 B CN111271235 B CN 111271235B CN 202010044758 A CN202010044758 A CN 202010044758A CN 111271235 B CN111271235 B CN 111271235B
- Authority
- CN
- China
- Prior art keywords
- transmission gear
- shape memory
- memory alloy
- thermoelectric module
- alloy layer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03G—SPRING, WEIGHT, INERTIA OR LIKE MOTORS; MECHANICAL-POWER PRODUCING DEVICES OR MECHANISMS, NOT OTHERWISE PROVIDED FOR OR USING ENERGY SOURCES NOT OTHERWISE PROVIDED FOR
- F03G7/00—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for
- F03G7/06—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like
- F03G7/065—Mechanical-power-producing mechanisms, not otherwise provided for or using energy sources not otherwise provided for using expansion or contraction of bodies due to heating, cooling, moistening, drying or the like using a shape memory element
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Gears, Cams (AREA)
Abstract
The invention discloses a mechanical driving platform based on shape memory alloy, which comprises a shape memory alloy layer formed by winding a shape memory alloy wire and a two-stage amplification mechanical transmission structure, wherein a thermoelectric module is used for heating the shape memory alloy layer to generate shrinkage deformation, a gear is driven to rotate by a roller chain, the mechanical transmission structure amplifies the deformation, and a closed-loop controller is designed to achieve the purpose of controlling the rotation angle by controlling the deformation of the upper and lower shape memory alloy layers. The invention has the advantages of simple structure, stable operation and large power-weight ratio, simultaneously generates high-precision flexible output, and can be widely applied to the field of mechanical drive facing robots.
Description
Technical Field
The invention relates to the technical field of shape memory alloy application, in particular to a mechanical driving platform based on shape memory alloy.
Background
The traditional driving technology is usually driven by a motor system, the driving structure is complex, the size is high, electromagnetic interference is easy to generate, the driving precision is not high, and the application field of the driving technology is greatly limited. The shape memory alloy is used as an intelligent material, has excellent physical and chemical properties and compatibility due to the unique shape memory effect, and is widely applied to the industrial field and the medical field. Compared with the traditional driving technology, the shape memory alloy driving technology provides millimeter-scale accurate output, and meanwhile, the driving structure is simple, so that the executing mechanism can be helped to better realize accurate control and high-precision positioning.
Disclosure of Invention
The invention aims to solve the defects in the prior traditional driving technology and provides a mechanical driving platform based on shape memory alloy.
The purpose of the invention can be achieved by adopting the following technical scheme:
a mechanical driving platform based on shape memory alloy comprises an upper thermoelectric module 1, an upper shape memory alloy layer 2, a roller chain 3, a right small transmission gear 4, a left small transmission gear 5, a right large transmission gear 6, a left large transmission gear 7, a lower shape memory alloy layer 8, a lower thermoelectric module 9 and a closed-loop controller, wherein the upper shape memory alloy layer 2 is attached to the upper thermoelectric module 1, the lower shape memory alloy layer 8 is attached to the lower thermoelectric module 9, and the upper shape memory alloy layer 2 and the lower shape memory alloy layer 8 are respectively heated by the upper thermoelectric module 1 and the lower thermoelectric module 9;
the upper-layer shape memory alloy layer 2 and the lower-layer shape memory alloy layer 8 are arranged in an up-down symmetrical mode, one end of the upper-layer shape memory alloy layer 2 and one end of the lower-layer shape memory alloy layer 8 are connected to the left large transmission gear 7, and the left large transmission gear 7 is driven to rotate through the contraction deformation of the upper-layer shape memory alloy layer 2 or the lower-layer shape memory alloy layer 8;
The left large transmission gear 7 is connected with the left small transmission gear 5 through the roller chain 3, and the left small transmission gear 5 is driven to rotate through the rotation of the left large transmission gear 7;
the left small transmission gear 5 and the right large transmission gear 6 are connected to the same transmission shaft, and the rotation of the left small transmission gear 5 drives the rotation of the right large transmission gear 6;
the right large transmission gear 6 is connected with the right small transmission gear 4 through the roller chain 3, and the right small transmission gear 4 is driven to rotate through the rotation of the right large transmission gear 6;
the closed-loop controller is respectively connected with the upper thermoelectric module 1 and the lower thermoelectric module 9 and is used for controlling the driving voltage of the upper thermoelectric module 1 and the lower thermoelectric module 9 so that the mechanical driving platform rotates along the expected angle output;
the closed-loop controller adopts a specified performance controller, and the tracking error of the system is defined as follows:
e(t)＝θd(t)-θ(t) (1)
wherein theta isd(t) is the output of the expected angle, theta (t) is the output of the actual angle, and an error conversion function is introduced
The function strictly increases and satisfies
And
the specified performance controller is defined as follows:
u(t)＝-k2T2(ξ2(t)) (2)
wherein k is2For positive design constants, xi2(t) are the adaptation law parameters that specify the performance controller.
Further, a driving voltage is applied to the upper thermoelectric module 1 to heat the upper shape memory alloy layer 2 to generate shrinkage deformation, so as to drive the left large transmission gear 7 to rotate anticlockwise, meanwhile, the roller chain 3 drives the left small transmission gear 5 to rotate anticlockwise, the left small transmission gear 5 drives the right large transmission gear 6 to rotate anticlockwise through the transmission shaft, and the right large transmission gear 6 drives the right small transmission gear 4 to rotate anticlockwise through the roller chain 3.
Further, a driving voltage is applied to the lower thermoelectric module 9 to heat the lower shape memory alloy layer 8 to generate shrinkage deformation, so as to drive the left large transmission gear 7 to rotate clockwise, meanwhile, the roller chain 3 drives the left small transmission gear 5 to rotate clockwise, the left small transmission gear 5 drives the right large transmission gear 6 to rotate clockwise through the transmission shaft, and the right large transmission gear 6 drives the right small transmission gear 4 to rotate clockwise through the roller chain 3.
Further, the upper shape memory alloy layer 2 and the lower shape memory alloy layer 8 are formed by winding shape memory alloy wires, and the number of the wound shape memory alloy wires can be increased or decreased according to the magnitude of the required driving force.
Further, the radius ratio of the right small transmission gear 4 to the right large transmission gear 6 is 1:2.55, and the radius ratio of the left small transmission gear 5 to the left large transmission gear 7 is 1:2.55, so that the micro deformation of the shape memory alloy layer can be amplified by a two-stage amplification transmission structure consisting of the right large transmission gear 6, the left large transmission gear 7, the right small transmission gear 4 and the left small transmission gear 5.
Further, the mechanical driving platform is applied to the occasions with the requirement on the driving speed not higher than 0.1 rad/s.
Further, let u (t) be the output drive voltage of the closed-loop controller, u (t)1(t) is a driving voltage applied to the upper thermoelectric module 1, u2(t) is a driving voltage applied to the lower thermoelectric module 9, and offComprises the following steps:
the adaptive law parameters in the specified performance controller are defined as follows:
wherein k is1In order to have a positive design constant,
is the derivative, ξ, of the actual angle output1(t) is an adaptive law parameter obtained by converting the tracking error through a specified performance function, a2(t) is an intermediate variable specifying the performance controller,
is a function of performance and satisfies
Constant number
Respectively performance function rhoi(t) upper and lower bounds, and for all t ≧ 0:
-ρ1(t)＜e(t)＜ρ1(t) (5)。
compared with the prior art, the invention has the following advantages and effects:
the invention uses the shrinkage deformation of the shape memory alloy layer as the driving force, and converts the tiny linear deformation of the shape memory alloy layer into high-precision flexible output through a two-stage amplification mechanical transmission structure, thereby realizing the purpose of displacement amplification driving. Meanwhile, a plurality of circles of shape memory alloy wires are wound, so that the power-weight ratio is improved, the driving structure provides large output torque while ensuring high-precision output, and the loading capacity of the driving structure is enhanced.
Drawings
FIG. 1 is a schematic structural diagram of a mechanical driving platform based on shape memory alloy according to the present disclosure;
FIG. 2 is a block diagram of an open loop experiment of a shape memory alloy based mechanical drive platform according to the present disclosure;
FIG. 3 is a block diagram of a closed loop control of a shape memory alloy based mechanical drive platform according to the present disclosure;
FIG. 4 is a schematic diagram of an output angle and a desired angle in an embodiment of the present invention, wherein the abscissa represents time and the ordinate represents an angle;
FIG. 5 is a schematic diagram of driving voltages of upper and lower thermoelectric modules according to an embodiment of the present invention, wherein the abscissa represents time and the ordinate represents driving voltage;
FIG. 6 is a schematic diagram of the temperature change of the upper and lower shape memory alloy layers in the embodiment of the present invention, wherein the abscissa represents time and the ordinate represents temperature.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
The embodiment discloses a mechanical driving platform based on shape memory alloy, as shown in fig. 1, the mechanical driving platform comprises an upper thermoelectric module 1, an upper shape memory alloy layer 2, a roller chain 3, a right small transmission gear 4, a left small transmission gear 5, a right large transmission gear 6, a left large transmission gear 7, a lower shape memory alloy layer 8 and a lower thermoelectric module 9. Wherein the upper shape memory alloy layer 2 is attached to the upper thermoelectric module 1, and the lower shape memory alloy layer 8 is attached to the lower thermoelectric module 9, the upper shape memory alloy layer 2 and the lower shape memory alloy layer 8 can be heated by the upper thermoelectric module 1 and the lower thermoelectric module 9, respectively.
In this embodiment, one end of the upper shape memory alloy layer 2 and one end of the lower shape memory alloy layer 8 are connected to the left large transmission gear 7, and the left large transmission gear 7 is driven to rotate by the contraction deformation of the upper shape memory alloy layer 2 or the lower shape memory alloy layer 8.
In this embodiment, the left large transmission gear 7 is connected with the left small transmission gear 5 through the roller chain 3, and the rotation of the left large transmission gear 7 drives the rotation of the left small transmission gear 5.
In this embodiment, the left small transmission gear 5 and the right large transmission gear 6 are connected to the same transmission shaft, and the rotation of the left small transmission gear 5 can drive the rotation of the right large transmission gear 6.
In this embodiment, the right large transmission gear 6 is connected with the right small transmission gear 4 through the roller chain 3, and the rotation of the right large transmission gear 6 drives the rotation of the right small transmission gear 4.
As shown in fig. 2, in this embodiment, a driving voltage is applied to the upper thermoelectric module 1 to heat the upper shape memory alloy layer 2 to generate shrinkage deformation, so as to drive the left large transmission gear 7 to rotate counterclockwise, and simultaneously, the roller chain 3 drives the left small transmission gear 5 to rotate counterclockwise, the left small transmission gear 5 drives the right large transmission gear 6 to rotate counterclockwise through the transmission shaft, and the right large transmission gear 6 drives the right small transmission gear 4 to rotate counterclockwise through the roller chain 3.
In this embodiment, a driving voltage is applied to the lower thermoelectric module 9, so that the lower thermoelectric module heats the lower shape memory alloy layer 8 to generate contraction deformation, and further drives the left large transmission gear 7 to rotate clockwise, and meanwhile, the roller chain 3 drives the left small transmission gear 5 to rotate clockwise, the left small transmission gear 5 drives the right large transmission gear 6 to rotate clockwise through the transmission shaft, and the right large transmission gear 6 drives the right small transmission gear 4 to rotate clockwise through the roller chain 3.
In this embodiment, the mechanical drive platform can be made to rotate following the desired angular output by designing the performance controller.
In this embodiment, the upper shape memory alloy layer 2 and the lower shape memory alloy layer 8 are formed by winding a shape memory alloy wire, and 140 coils of the shape memory alloy wire are wound in total.
In this embodiment, the radius ratio of the right small transmission gear 4 to the right large transmission gear 6 is 1:2.55, and the radius ratio of the left small transmission gear 5 to the left large transmission gear 7 is 1:2.55, so that the two-stage amplification mechanical transmission structure composed of the right large transmission gear 6, the left large transmission gear 7, the right small transmission gear 4 and the left small transmission gear 5 can amplify the micro deformation of the shape memory alloy layer by 6.5 times.
In the embodiment, the mechanical driving platform is applied to the occasion with the requirement on the driving speed not higher than 0.1 rad/s.
The specific embodiment is as follows:
to control the mechanical drive platform, a closed loop control block diagram is applied as shown in fig. 3.
Wherein
u (t) is the output driving voltage of the closed-loop controller, u1(t) is a driving voltage applied to the upper thermoelectric module, u2And (t) is a driving voltage applied to the lower thermoelectric module. Define the system tracking error as:
e(t)＝θd(t)-θ(t) (2)
wherein theta isd(t) is the output of the expected angle, theta (t) is the output of the actual angle, and an error conversion function is introduced
The function strictly increases and satisfies 
And
then the performance controller is defined as follows:
u(t)＝-k2T2(ξ2(t)) (3)
wherein k is2For a positive design constant, xi2(t) is an adaptation law parameter that specifies the performance controller. The adaptation law parameters are defined as follows:
wherein k is1In order to have a positive design constant,
is the derivative, ξ, of the actual angle output1(t) is an adaptive law parameter obtained by converting the tracking error through a specified performance function, a2(t) is an intermediate variable specifying the performance controller,
is a function of performance and satisfies
Constant number
Respectively performance function rhoi(t) upper and lower bounds, and for all t ≧ 0:
-ρ1(t)＜e(t)＜ρ1(t) (5)
in this embodiment, the desired angle output is θd(t) 0.5sin (0.1t) rad, parameters specifying the performance controller are selected as: rho1(t)＝ρ2(t)＝0.5e-0.1t+0.1，k1＝1，k2＝5，T1(ξ1)＝ln(1+ξ1/(1-ξ1))，T2(ξ2)＝ln(1+ξ2/(1-ξ2)). The experimental results are shown in fig. 4, 5 and 6. FIG. 4 shows a comparison between the actual output angle and the expected angle of the mechanical driving platform, FIG. 5 shows the driving voltages of the upper and lower thermoelectric modules, and FIG. 6 shows an expansionThe temperature change curves of the upper and lower shape memory alloy layers are shown. The good tracking performance in the figure shows that the expected angle is successfully tracked in the experiment, and the tracking error is not more than 0.1 rad.
In summary, the mechanical driving structure based on the shape memory alloy drives the transmission gear to rotate by utilizing the shrinkage deformation of the upper and lower shape memory alloy layers, and further amplifies the deformation of the shape memory alloy layers through the two-stage amplification transmission mechanism consisting of the plurality of small transmission gears and the large transmission gear. The rotation angle can be accurately controlled by controlling the deformation of the upper and lower shape memory alloy layers, so that the difficulty that the precision of the traditional driving device such as a motor drive device is insufficient is overcome.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such modifications are intended to be included in the scope of the present invention.
Claims (4)
1. A mechanical driving platform based on a shape memory alloy is characterized by comprising an upper thermoelectric module (1), an upper shape memory alloy layer (2), a roller chain (3), a right small transmission gear (4), a left small transmission gear (5), a right large transmission gear (6), a left large transmission gear (7), a lower shape memory alloy layer (8), a lower thermoelectric module (9) and a closed-loop controller, wherein the upper shape memory alloy layer (2) is attached to the upper thermoelectric module (1), the lower shape memory alloy layer (8) is attached to the lower thermoelectric module (9), and the upper shape memory alloy layer (2) and the lower shape memory alloy layer (8) are respectively heated by the upper thermoelectric module (1) and the lower thermoelectric module (9);
the upper-layer shape memory alloy layer (2) and the lower-layer shape memory alloy layer (8) are arranged in an up-and-down symmetrical mode, one ends of the upper-layer shape memory alloy layer (2) and the lower-layer shape memory alloy layer (8) are connected to the left large transmission gear (7), and the left large transmission gear (7) is driven to rotate through the shrinkage deformation of the upper-layer shape memory alloy layer (2) or the lower-layer shape memory alloy layer (8);
The left large transmission gear (7) is connected with the left small transmission gear (5) through the roller chain (3), and the left small transmission gear (5) is driven to rotate through the rotation of the left large transmission gear (7);
the left small transmission gear (5) and the right large transmission gear (6) are connected to the same transmission shaft, and the rotation of the left small transmission gear (5) drives the rotation of the right large transmission gear (6);
the right large transmission gear (6) is connected with the right small transmission gear (4) through the roller chain (3), and the right small transmission gear (4) is driven to rotate through the rotation of the right large transmission gear (6);
the closed-loop controller is respectively connected with the upper thermoelectric module (1) and the lower thermoelectric module (9) and is used for controlling the driving voltage of the upper thermoelectric module (1) and the lower thermoelectric module (9) so that the mechanical driving platform rotates along the expected angle output;
the closed-loop controller adopts a specified performance controller, and the tracking error of the system is defined as follows:
e(t)＝θd(t)-θ(t) (1)
wherein theta isd(t) is the output of the expected angle, theta (t) is the output of the actual angle, and an error conversion function is introduced
The function strictly increases and satisfies
And
the specified performance controller is defined as follows:
u(t)＝-k2T2(ξ2(t)) (2)
wherein k is2For positive design constants, xi2(t) are the adaptation law parameters that specify the performance controller;
The thermoelectric module is characterized in that a driving voltage is applied to the upper thermoelectric module (1) to heat the upper shape memory alloy layer (2) to generate shrinkage deformation, so that the left large transmission gear (7) is driven to rotate anticlockwise, meanwhile, the roller chain (3) drives the left small transmission gear (5) to rotate anticlockwise, the left small transmission gear (5) drives the right large transmission gear (6) to rotate anticlockwise through the transmission shaft, and the right large transmission gear (6) drives the right small transmission gear (4) to rotate anticlockwise through the roller chain (3);
the thermoelectric module is characterized in that a driving voltage is applied to the lower thermoelectric module (9) to heat the lower shape memory alloy layer (8) to generate shrinkage deformation, so that the left large transmission gear (7) is driven to rotate clockwise, meanwhile, the roller chain (3) drives the left small transmission gear (5) to rotate clockwise, the left small transmission gear (5) drives the right large transmission gear (6) to rotate clockwise through the transmission shaft, and the right large transmission gear (6) drives the right small transmission gear (4) to rotate clockwise through the roller chain (3);
the upper shape memory alloy layer (2) and the lower shape memory alloy layer (8) are formed by winding shape memory alloy wires, and the number of the wound shape memory alloy wires is increased or decreased according to the required driving force.
2. A shape memory alloy based mechanical drive platform according to claim 1, characterized in that the radius ratio of the right small drive gear (4) to the right large drive gear (6) is 1:2.55, and the radius ratio of the left small drive gear (5) to the left large drive gear (7) is 1: 2.55.
3. The mechanical driving platform based on the shape memory alloy as claimed in claim 1, wherein the mechanical driving platform is applied to the occasion with the requirement on the driving speed not higher than 0.1 rad/s.
4. The shape memory alloy-based mechanical drive platform of claim 1, wherein u (t) is the output drive voltage of the closed-loop controller, u (t)1(t) is a driving voltage applied to the upper thermoelectric module (1), u2(t) is a driving voltage applied to the lower thermoelectric module (9) in the following relationship:
the adaptive law parameters in the specified performance controller are defined as follows:
wherein k is1In order to have a positive design constant,
is the derivative, ξ, of the actual angle output1(t) is an adaptive law parameter obtained by converting the tracking error through a performance function, a2(t) is an intermediate variable specifying the performance controller,
is a function of performance and satisfies
Constant number
Respectively performance function rhoi(t) upper and lower bounds, and for all t ≧ 0:
-ρ1(t)＜e(t)＜ρ1(t) (5)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010044758.0A CN111271235B (en) | 2020-01-15 | 2020-01-15 | Mechanical driving platform based on shape memory alloy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010044758.0A CN111271235B (en) | 2020-01-15 | 2020-01-15 | Mechanical driving platform based on shape memory alloy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111271235A CN111271235A (en) | 2020-06-12 |
| CN111271235B true CN111271235B (en) | 2022-05-24 |
Family
ID=70997252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010044758.0A Active CN111271235B (en) | 2020-01-15 | 2020-01-15 | Mechanical driving platform based on shape memory alloy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111271235B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050184533A1 (en) * | 2003-06-20 | 2005-08-25 | Hebenstreit Joseph J. | Shape memory alloy-actuated release mechanisms for drive systems |
| CN101092945A (en) * | 2007-07-19 | 2007-12-26 | 周泰立 | Temperature induction generating set |
| CN104092349B (en) * | 2014-07-21 | 2016-06-15 | 佛山市禾才科技服务有限公司 | The motor that a kind of SMA drives |
| GB201610039D0 (en) * | 2016-06-08 | 2016-07-20 | Cambridge Mechatronics Ltd | Dynamic centring of SMA actuator |
| CN108086513B (en) * | 2018-01-22 | 2023-07-04 | 同济大学 | Shape memory alloy type multi-stage inertial damping system |
| CN108594897A (en) * | 2018-03-14 | 2018-09-28 | 西安电子科技大学 | Based on temperature controlled shape memory cable net structure type face precision active regulating system |
| CN108999518A (en) * | 2018-10-09 | 2018-12-14 | 洛阳理工学院 | The intelligent door and window device of wire form marmem driving |
| CN110045603B (en) * | 2018-12-03 | 2021-09-21 | 华南理工大学 | Robust self-adaptive control method under variable load environment of piezoelectric ceramic driving component |
-
2020
- 2020-01-15 CN CN202010044758.0A patent/CN111271235B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111271235A (en) | 2020-06-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100554730C (en) | Propulsion force transmission device | |
| US8522636B2 (en) | Rectilinear motion device | |
| Gorbet et al. | A novel differential shape memory alloy actuator for position control | |
| CN111271235B (en) | Mechanical driving platform based on shape memory alloy | |
| Kodaira et al. | IPMC monolithic thin film robots fabricated through a multi-layer casting process | |
| US5182910A (en) | Micromechanical manipulator | |
| Ashrafiuon et al. | Position control of a three-link shape memory alloy actuated robot | |
| US20170095935A1 (en) | Apparatus for converting a plurality of linear movement into two degree of freedom movement | |
| Liu et al. | A MXene‐Based Light‐Driven Actuator and Motor with Self‐Sustained Oscillation for Versatile Applications | |
| JP2017150473A (en) | Solid-state motor, and associated system and method | |
| JP2002111089A (en) | Method for manufacturing actuator and strain element | |
| CN106996358B (en) | Torque smooth control method for positive and negative rotation switching of variable pitch motor of wind power generation system | |
| CN106886153B (en) | Cross-coupling-based control method for cooperative work of blades of multi-blade collimator | |
| CN110306899B (en) | Reluctance type magnetic lead screw automatic door system and positioning method thereof | |
| JP2012154412A (en) | Actuator and link mechanism | |
| Jang et al. | Design and fabrication of a millimeter-scale rotary actuator based on the twisted shape memory alloy (SMA) wires | |
| CN115179300A (en) | Flexible mechanical arm trajectory tracking control method for preset time | |
| CN111496799B (en) | Method for accurately controlling shape memory alloy composite soft driver | |
| Yoo et al. | Design of a variable reference current controller for micro-stepping motor based on vibration and missing step characteristic data | |
| JP2011058470A (en) | Translational blade machine | |
| CN205105076U (en) | Can change permanent magnetism speed regulator that turns to | |
| CN108687797B (en) | Preparation method of micro-driving robot arm | |
| TWM564666U (en) | Transmission device | |
| Spinks et al. | An introduction to conducting polymer actuators | |
| CN111872942B (en) | Torque feedforward method of multi-axis robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |