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Ana amfani da na'urorin motsa jiki a ko'ina kuma suna ƙirƙirar motsi mai sarrafawa ta hanyar amfani da ƙarfin motsawa ko ƙarfin juyi mai dacewa don yin ayyuka daban-daban a cikin masana'antu da sarrafa kansa na masana'antu. Bukatar tuƙi mai sauri, ƙanana da inganci shine haɓaka ƙirƙira a cikin ƙirar tuƙi. Tuƙi na Shape Memory Alloy (SMA) suna ba da fa'idodi da yawa fiye da tuƙi na gargajiya, gami da babban rabo na iko-zuwa-nauyi. A cikin wannan rubutun, an haɓaka na'urar motsa jiki mai tushen SMA mai fuka-fukai biyu wanda ya haɗu da fa'idodin tsokoki na gashin fuka-fukai na tsarin halittu da halayen musamman na SMAs. Wannan binciken yana bincika kuma yana faɗaɗa na'urorin motsa jiki na SMA na baya ta hanyar haɓaka samfurin lissafi na sabon na'urar motsa jiki bisa ga tsarin waya na SMA bimodal da gwada shi ta hanyar gwaji. Idan aka kwatanta da na'urorin motsa jiki da aka sani bisa SMA, ƙarfin motsa jiki na sabon na'urar ya fi aƙalla sau 5 (har zuwa 150 N). Rage nauyi mai dacewa shine kusan 67%. Sakamakon nazarin hankali na samfuran lissafi yana da amfani don daidaita sigogin ƙira da fahimtar mahimman sigogi. Wannan binciken ya ƙara gabatar da na'urar motsa jiki ta mataki na N-th mai matakai da yawa wanda za'a iya amfani da shi don ƙara haɓaka kuzari. Masu kunna tsoka na SMA waɗanda ke da tushen dipvalerate suna da aikace-aikace iri-iri, tun daga sarrafa kansa ta gini zuwa tsarin isar da magunguna daidai.
Tsarin halittu, kamar tsarin tsokoki na dabbobi masu shayarwa, na iya kunna masu kunna ƙwayoyin cuta da yawa. Dabbobi masu shayarwa suna da tsarin tsoka daban-daban, kowannensu yana da takamaiman manufa. Duk da haka, yawancin tsarin tsokar dabbobi masu shayarwa za a iya raba su zuwa manyan rukuni biyu. A layi ɗaya da kuma pennate. A cikin tsokoki na hamstrings da sauran lankwasawa, kamar yadda sunan ya nuna, tsokoki masu layi ɗaya suna da zaruruwan tsoka daidai da tsakiyar jijiya. Sarkar zaruruwan tsoka an jera su kuma suna da alaƙa ta aiki ta hanyar nama mai haɗin gwiwa da ke kewaye da su. Kodayake ana cewa waɗannan tsokoki suna da babban balaguro (rage yawan kashi), ƙarfin tsoka gabaɗaya yana da iyaka sosai. Sabanin haka, a cikin tsokar calf ta triceps2 (gastrocnemius ta gefe (GL)3, medial gastrocnemius (GM)4 da soleus (SOL)) da extensor femoris (quadriceps) 5,6 nama na tsoka pennate ana samun su a cikin kowace tsoka7. A cikin tsarin pinnate, zaruruwan tsoka a cikin tsokar bipennate suna nan a ɓangarorin biyu na jijiya ta tsakiya a kusurwoyin oblique (kusurwoyin pinnate). Pennate ya fito ne daga kalmar Latin "penna", wanda ke nufin "alkalami", kuma, kamar yadda aka nuna a cikin hoto na 1 yana da kama da gashin fuka-fuki. Zaruruwan tsokoki na pennate sun yi gajeru kuma sun yi kusurwa zuwa ga tsayin daka na tsoka. Saboda tsarin pinnate, gabaɗayan motsi na waɗannan tsokoki yana raguwa, wanda ke haifar da sassan juye-juye da tsayi na tsarin gajarta. A gefe guda kuma, kunna waɗannan tsokoki yana haifar da ƙarin ƙarfin tsoka gabaɗaya saboda yadda ake auna yankin giciye na jiki. Saboda haka, ga wani yanki na giciye, tsokoki na pennate za su yi ƙarfi kuma za su samar da ƙarfi mafi girma fiye da tsokoki masu zaruruwa masu layi ɗaya. Ƙarfin da zaruruwa ke samarwa suna samar da ƙarfin tsoka a matakin macroscopic a cikin wannan ƙwayar tsoka. Bugu da ƙari, yana da halaye na musamman kamar raguwa da sauri, kariya daga lalacewar tensile, matashin kai. Yana canza alaƙar da ke tsakanin shigar da zare da fitowar ƙarfin tsoka ta hanyar amfani da fasaloli na musamman da sarkakiyar geometric na tsarin zare da ke da alaƙa da layukan aiki na tsoka.
An nuna zane-zanen zane-zane na ƙirar mai kunnawa ta hanyar SMA da ke akwai dangane da tsarin tsoka mai bimodal, misali (a), wanda ke wakiltar hulɗar ƙarfin taɓawa inda aka ɗora na'urar da aka yi da hannu da wayoyin SMA ke aiki a kan robot mai motsi mai ƙafa biyu mai cin gashin kansa9,10. , (b) Ƙwaƙwalwar orbital ta robotic tare da SMA mai ɗaukar madauri mai ɗaukar madauri. Matsayin idon roba yana sarrafawa ta hanyar sigina daga tsokar ido ta ido11, (c) Ƙwaƙwalwar SMA sun dace da aikace-aikacen ƙarƙashin ruwa saboda amsawar mitar su mai yawa da ƙarancin bandwidth. A cikin wannan tsari, ana amfani da masu kunna SMA don ƙirƙirar motsin raƙuman ruwa ta hanyar kwaikwayon motsin kifaye, (d) Ana amfani da masu kunna SMA don ƙirƙirar robot na duba bututun micro wanda zai iya amfani da ƙa'idar motsin tsutsa inci, wanda motsi na wayoyi na SMA ke sarrafawa a cikin tashar 10, (e) yana nuna alkiblar zaruruwan tsoka da samar da ƙarfin kwankwasawa a cikin kyallen gastrocnemius, (f) yana nuna wayoyi na SMA da aka shirya a cikin nau'in zaruruwan tsoka a cikin tsarin tsokar pennate.
Masu kunna wutar lantarki sun zama muhimmin ɓangare na tsarin injiniya saboda yawan aikace-aikacensu. Saboda haka, buƙatar ƙananan na'urori masu sauri da inganci ya zama mahimmanci. Duk da fa'idodinsu, na'urorin gargajiya sun tabbatar da tsada da ɗaukar lokaci don kulawa. Masu kunna wutar lantarki da na iska suna da rikitarwa da tsada kuma suna iya lalacewa, matsalolin shafawa da gazawar sassan. Dangane da buƙata, an mai da hankali kan haɓaka masu kunna wutar lantarki masu inganci, waɗanda aka inganta da girma bisa ga kayan wayo. Binciken da ake ci gaba da yi shine duba masu kunna wutar lantarki masu lanƙwasa na siffar memory alloy (SMA) don biyan wannan buƙata. Masu kunna wutar lantarki masu lanƙwasa sun keɓance ta yadda suke haɗa masu kunna wutar lantarki da yawa cikin ƙananan tsarin macro masu rikitarwa don samar da ƙarin aiki da faɗaɗawa. A wannan batun, ƙwayar tsoka ta ɗan adam da aka bayyana a sama tana ba da kyakkyawan misali mai lanƙwasa na irin wannan aikin mai lanƙwasa da yawa. Binciken na yanzu ya bayyana tuƙin SMA mai matakai da yawa tare da abubuwan tuƙi da yawa (wayoyin SMA) waɗanda suka dace da yanayin fiber da ke cikin tsokoki na bimodal, wanda ke inganta aikin tuƙin gabaɗaya.
Babban manufar mai kunna wutar lantarki shine samar da wutar lantarki kamar ƙarfi da motsi ta hanyar canza makamashin lantarki. Alloys na ƙwaƙwalwar siffofi nau'i ne na kayan "wayo" waɗanda zasu iya dawo da siffarsu a yanayin zafi mai yawa. A ƙarƙashin manyan kaya, ƙaruwar zafin waya ta SMA yana haifar da murmurewa ta siffa, wanda ke haifar da ƙaruwar kuzarin kunnawa idan aka kwatanta da kayan wayo daban-daban da aka haɗa kai tsaye. A lokaci guda, a ƙarƙashin nauyin injina, SMAs suna yin rauni. A ƙarƙashin wasu yanayi, nauyin zagaye na iya sha da sakin kuzarin injiniya, yana nuna canje-canjen siffar hysteretic mai canzawa. Waɗannan halaye na musamman sun sa SMA ta dace da na'urori masu auna firikwensin, rage girgiza da musamman masu kunna wutar lantarki12. Da wannan a zuciya, an yi bincike mai yawa kan na'urorin da ke tushen SMA. Ya kamata a lura cewa an tsara masu kunna wutar lantarki na tushen SMA don samar da motsi na fassara da juyawa don aikace-aikace iri-iri13,14,15. Kodayake an haɓaka wasu masu kunna wutar lantarki na juyawa, masu bincike suna da sha'awar masu kunna wutar lantarki na layi. Ana iya raba waɗannan na'urorin kunna layi zuwa nau'ikan na'urori masu kunna layi guda uku: masu girma ɗaya, masu cirewa da masu kunna bambanci 16. Da farko, an ƙirƙiri na'urorin haɗaka tare da SMA da sauran na'urorin sarrafa layi na gargajiya. Ɗaya daga cikin irin wannan misalin na na'urar kunna layi ta haɗin gwiwa ta tushen SMA shine amfani da wayar SMA tare da injin DC don samar da ƙarfin fitarwa na kusan N 100 da kuma babban motsi17.
Ɗaya daga cikin ci gaba na farko a cikin tuƙi waɗanda suka dogara gaba ɗaya akan SMA shine SMA parallel drive. Ta amfani da wayoyi SMA da yawa, an tsara tuƙi mai layi ɗaya na SMA don ƙara ƙarfin tuƙi ta hanyar sanya duk wayoyi SMA18 a layi ɗaya. Haɗin layi ɗaya na masu kunna ba wai kawai yana buƙatar ƙarin ƙarfi ba, har ma yana iyakance ƙarfin fitarwa na waya ɗaya. Wani rashin amfani na masu kunna ba tare da SMA ba shine iyakantaccen tafiya da za su iya cimmawa. Don magance wannan matsalar, an ƙirƙiri katakon kebul na SMA wanda ke ɗauke da katako mai sassauƙa don ƙara ƙaura da cimma motsi na layi, amma bai samar da ƙarfi mafi girma ba19. Tsarin sassauƙa masu laushi da yadudduka don robots waɗanda suka dogara da ƙarfen ƙwaƙwalwar siffa an haɓaka su musamman don haɓaka tasiri20,21,22. Don aikace-aikacen da ake buƙatar manyan gudu, an ba da rahoton ƙananan famfo masu tuƙi ta amfani da SMAs na siriri don aikace-aikacen micropump da ake tuƙa23. Mitar tuƙi na membrane na siririn fim ɗin SMA muhimmin abu ne wajen sarrafa saurin direba. Saboda haka, injinan layi na SMA suna da mafi kyawun amsawar motsi fiye da injinan bazara na SMA ko injinan sanda. Na'urorin robot masu laushi da fasahar kamawa wasu aikace-aikace ne guda biyu da ke amfani da na'urorin actuators na tushen SMA. Misali, don maye gurbin na'urar actuator ta yau da kullun da ake amfani da ita a cikin maƙallin sararin samaniya na 25 N, an ƙirƙiri na'urar actuator mai siffar memory alloy parallel 24. A wani yanayin kuma, an ƙera na'urar actuator mai laushi ta SMA bisa waya mai matrix da aka saka wanda zai iya samar da matsakaicin ƙarfin jan hankali na 30 N. Saboda halayen injinansu, ana amfani da SMAs don samar da na'urorin actuators waɗanda ke kwaikwayon abubuwan da ke faruwa a halittu. Ɗaya daga cikin irin wannan ci gaba ya haɗa da na'urar robot mai ƙwayoyin halitta 12 wacce ke da biomimetic na wani abu mai kama da tsutsa tare da SMA don samar da motsi na sinusoidal zuwa wuta26,27.
Kamar yadda aka ambata a baya, akwai iyaka ga matsakaicin ƙarfin da za a iya samu daga masu kunna wutar lantarki na tushen SMA. Don magance wannan batu, wannan binciken ya gabatar da tsarin tsokar bimodal ta biomimetic. Wayar ƙarfe mai siffar memory ta motsa shi. Yana samar da tsarin rarrabuwa wanda ya haɗa da wayoyi da yawa na ƙarfe mai siffar memory. Zuwa yau, babu masu kunna wutar lantarki na tushen SMA waɗanda ke da irin wannan tsarin da aka ruwaito a cikin wallafe-wallafen. An haɓaka wannan tsarin na musamman kuma sabon tsari wanda ya dogara da SMA don nazarin halayen SMA yayin daidaita tsokar bimodal. Idan aka kwatanta da masu kunna wutar lantarki na tushen SMA da ke akwai, manufar wannan binciken ita ce ƙirƙirar mai kunna wutar lantarki na biomimetic dipvalerate don samar da ƙarfi mai girma a cikin ƙaramin girma. Idan aka kwatanta da na'urorin tuƙi na stepper na yau da kullun da ake amfani da su a cikin tsarin sarrafa kansa da sarrafawa na HVAC, ƙirar tuƙi ta bimodal da aka gabatar ta SMA ta rage nauyin tsarin tuƙi da kashi 67%. A cikin waɗannan, ana amfani da kalmomin "tsoka" da "tuƙi" a musayar juna. Wannan binciken yana bincika kwaikwayon multiphysics na irin wannan tuƙi. An yi nazarin halayen injina na irin waɗannan tsarin ta hanyar hanyoyin gwaji da na nazari. An ƙara bincika rarrabawar ƙarfi da zafin jiki a ƙarfin shigarwa na 7 V. Daga baya, an gudanar da nazarin siga don fahimtar alaƙar da ke tsakanin maɓallan mahimmanci da ƙarfin fitarwa. A ƙarshe, an yi hasashen masu kunna wutar lantarki na hierarchical kuma an gabatar da tasirin matakin hierarchical a matsayin yanki mai yuwuwar makomar masu kunna wutar lantarki marasa maganadisu don aikace-aikacen roba. Dangane da sakamakon binciken da aka ambata a sama, amfani da tsarin mataki ɗaya yana samar da ƙarfi aƙalla sau huɗu zuwa biyar fiye da masu kunna wutar lantarki da aka ruwaito ta hanyar SMA. Bugu da ƙari, an nuna cewa ƙarfin tuƙi iri ɗaya da aka samar ta hanyar tuƙi mai matakai da yawa ya fi sau goma fiye da na tuƙi mai tushen SMA na al'ada. Sannan binciken ya ba da rahoton mahimman sigogi ta amfani da nazarin hankali tsakanin ƙira daban-daban da masu canjin shigarwa. Tsawon farko na wayar SMA (\(l_0\)), kusurwar pinnate (\(\alpha\)) da adadin zare ɗaya (n) a cikin kowane zare ɗaya suna da mummunan tasiri akan girman ƙarfin tuƙi. ƙarfi, yayin da ƙarfin shigarwa (makamashi) ya zama yana da alaƙa mai kyau.
Wayar SMA tana nuna tasirin ƙwaƙwalwar siffar (SME) da aka gani a cikin dangin ƙarfe na nickel-titanium (Ni-Ti). Yawanci, SMAs suna nuna matakai biyu da suka dogara da zafin jiki: matakin ƙarancin zafin jiki da matakin zafin jiki mai yawa. Duk matakai biyu suna da halaye na musamman saboda kasancewar tsarin lu'ulu'u daban-daban. A cikin matakin austenite (lokacin zafin jiki mai girma) wanda ke sama da zafin canji, kayan yana nuna ƙarfi mai yawa kuma ba shi da kyau a ƙarƙashin kaya. Haɗin yana aiki kamar bakin ƙarfe, don haka yana iya jure matsin lamba mai girma. Yin amfani da wannan kadarar ƙarfe na Ni-Ti, ana karkatar da wayoyin SMA don samar da mai kunnawa. An haɓaka samfuran nazari masu dacewa don fahimtar manyan hanyoyin halayen zafi na SMA a ƙarƙashin tasirin sigogi daban-daban da geometries daban-daban. An sami kyakkyawar yarjejeniya tsakanin sakamakon gwaji da na nazari.
An gudanar da wani bincike na gwaji kan samfurin da aka nuna a Hoto na 9a don tantance aikin tuƙin bimodal bisa ga SMA. An auna biyu daga cikin waɗannan halaye, ƙarfin da tuƙin (ƙarfin tsoka) ya samar da kuma zafin wayar SMA (zafin SMA), ta hanyar gwaji. Yayin da bambancin ƙarfin lantarki ke ƙaruwa a tsawon tsawon wayar a cikin tuƙin, zafin wayar yana ƙaruwa saboda tasirin dumama Joule. An yi amfani da ƙarfin shigarwa a cikin zagaye biyu na 10-s (wanda aka nuna a matsayin dige ja a Hoto na 2a, b) tare da lokacin sanyaya na 15-s tsakanin kowane zagaye. An auna ƙarfin toshewa ta amfani da ma'aunin ma'aunin piezoelectric, kuma an sa ido kan rarraba zafin waya SMA a ainihin lokaci ta amfani da kyamarar LWIR mai ƙuduri mai girma na kimiyya (duba halayen kayan aikin da aka yi amfani da su a Tebur na 2). ya nuna cewa a lokacin babban ƙarfin lantarki, zafin waya yana ƙaruwa da sauri, amma lokacin da babu wutar lantarki da ke gudana, zafin waya yana ci gaba da faɗuwa. A cikin tsarin gwaji na yanzu, zafin wayar SMA ya faɗi a lokacin sanyaya, amma har yanzu yana sama da zafin yanayi. A hoto na 2e yana nuna hoton zafin da ke kan wayar SMA da aka ɗauka daga kyamarar LWIR. A gefe guda kuma, a hoto na 2a yana nuna ƙarfin toshewa da tsarin tuƙi ya samar. Lokacin da ƙarfin tsoka ya wuce ƙarfin maido da maɓuɓɓugar ruwa, hannun da ke motsi, kamar yadda aka nuna a hoto na 9a, ya fara motsawa. Da zarar an fara kunnawa, hannun da ke motsi ya haɗu da firikwensin, yana ƙirƙirar ƙarfin jiki, kamar yadda aka nuna a hoto na 2c, d. Lokacin da matsakaicin zafin jiki ya kusa da \(84\,^{\circ}\hbox {C}\), matsakaicin ƙarfin da aka lura shine 105 N.
Jadawalin yana nuna sakamakon gwaji na zafin waya ta SMA da ƙarfin da mai kunna bimodal na SMA ya samar a lokacin zagaye biyu. Ana amfani da ƙarfin shigarwa a cikin zagaye biyu na daƙiƙa 10 (wanda aka nuna a matsayin digo ja) tare da lokacin sanyi na daƙiƙa 15 tsakanin kowane zagaye. Wayar SMA da aka yi amfani da ita don gwaje-gwajen waya ce mai girman 0.51 mm daga Dynalloy, Inc. (a) Jadawalin yana nuna ƙarfin gwaji da aka samu a cikin zagaye biyu, (c, d) yana nuna misalai biyu masu zaman kansu na aikin masu kunna hannu masu motsi akan mai canza ƙarfin piezoelectric na PACEline CFT/5kN, (b) jadawalin yana nuna matsakaicin zafin jiki na dukkan wayar SMA a lokacin zagaye biyu, (e) yana nuna hoton zafin da aka ɗauka daga wayar SMA ta amfani da kyamarar LWIR ta software ta FLIR ResearchIR. Sigogin geometric da aka yi la'akari da su a cikin gwaje-gwajen an bayar da su a cikin Tebur na ɗaya.
An kwatanta sakamakon kwaikwayon samfurin lissafi da sakamakon gwaji a ƙarƙashin yanayin ƙarfin shigarwa na 7V, kamar yadda aka nuna a Hoto na 5. Dangane da sakamakon nazarin parametric da kuma don guje wa yuwuwar zafi fiye da kima na wayar SMA, an samar da wutar lantarki ta 11.2 W ga mai kunna wutar. An yi amfani da wutar lantarki ta DC mai shirye-shirye don samar da 7V a matsayin ƙarfin shigarwa, kuma an auna wutar lantarki ta 1.6A a fadin wayar. Ƙarfin da tuƙi ke samarwa da zafin SDR yana ƙaruwa lokacin da aka yi amfani da wutar lantarki. Tare da ƙarfin shigarwa na 7V, matsakaicin ƙarfin fitarwa da aka samu daga sakamakon kwaikwayo da sakamakon gwaji na zagaye na farko shine 78 N da 96 N, bi da bi. A zagaye na biyu, matsakaicin ƙarfin fitarwa na kwaikwayon da sakamakon gwaji shine 150 N da 105 N, bi da bi. Bambancin tsakanin ma'aunin ƙarfin rufewa da bayanan gwaji na iya zama saboda hanyar da aka yi amfani da ita don auna ƙarfin rufewa. Sakamakon gwaji da aka nuna a hoto na 5a ya yi daidai da ma'aunin ƙarfin kullewa, wanda aka auna lokacin da shaft ɗin tuƙi ya yi hulɗa da PACEline CFT/5kN piezoelectric force transducer, kamar yadda aka nuna a cikin hoto na 2s. Saboda haka, lokacin da shaft ɗin tuƙi bai yi hulɗa da firikwensin ƙarfi a farkon yankin sanyaya ba, ƙarfin nan da nan ya zama sifili, kamar yadda aka nuna a Hoto na 2d. Bugu da ƙari, wasu sigogi waɗanda ke shafar samuwar ƙarfi a cikin zagayowar da ke biyo baya sune ƙimar lokacin sanyaya da kuma ma'aunin canja wurin zafi mai convective a cikin zagayowar da ta gabata. Daga hoto na 2b, ana iya ganin cewa bayan lokacin sanyaya na daƙiƙa 15, wayar SMA ba ta kai zafin ɗaki ba saboda haka tana da zafin farko mafi girma (\(40\,^{\circ }\hbox {C}\)) a cikin zagayowar tuƙi na biyu idan aka kwatanta da zagaye na farko (\(25\, ^{\circ}\hbox {C}\)). Saboda haka, idan aka kwatanta da zagaye na farko, zafin wayar SMA a lokacin zagaye na biyu na dumama ya kai zafin austenite na farko (\(A_s\)) a baya kuma ya daɗe a cikin lokacin sauyawa, wanda ke haifar da damuwa da ƙarfi. A gefe guda kuma, rarrabawar zafin jiki a lokacin zagayowar dumama da sanyaya da aka samu daga gwaje-gwaje da kwaikwayo yana da babban kamanceceniya da misalai daga nazarin thermographic. Binciken kwatancen bayanai na thermal waya SMA daga gwaje-gwaje da kwaikwayo ya nuna daidaito a lokacin zagayowar dumama da sanyaya da kuma cikin haƙuri mai karɓuwa don bayanan gwaji. Matsakaicin zafin waya SMA, wanda aka samu daga sakamakon kwaikwayo da gwaje-gwaje na zagaye na farko, shine \(89\,^{\circ }\hbox {C}\) da \(75\,^{\circ }\hbox {C}\, bi da bi), kuma a zagaye na biyu matsakaicin zafin waya SMA shine \(94\,^{\circ }\hbox {C}\) da \(83\,^{\circ }\hbox {C}\). Tsarin da aka ƙera da farko ya tabbatar da tasirin tasirin ƙwaƙwalwar siffar. Ba a yi la'akari da rawar da gajiya da zafi ke takawa ba a cikin wannan bita. A nan gaba, za a inganta samfurin don ya haɗa da tarihin damuwa na wayar SMA, wanda hakan zai sa ya fi dacewa da aikace-aikacen injiniya. Ƙarfin fitarwa na tuƙi da zane-zanen zafin jiki na SMA da aka samu daga toshewar Simulink suna cikin jurewar bayanan gwaji da aka yarda da su a ƙarƙashin yanayin bugun ƙarfin lantarki na 7 V. Wannan yana tabbatar da daidaito da amincin samfurin lissafi da aka haɓaka.
An haɓaka samfurin lissafi a cikin yanayin MathWorks Simulink R2020b ta amfani da daidaitattun bayanai da aka bayyana a cikin sashin Hanyoyi. A kan hoto na 3b yana nuna zane-zanen tubalan samfurin lissafi na Simulink. An kwaikwayi samfurin don bugun ƙarfin lantarki na shigarwar 7V kamar yadda aka nuna a Hoto na 2a, b. An jera ƙimar sigogin da aka yi amfani da su a cikin kwaikwayon a cikin Jadawali na 1. Sakamakon kwaikwayon hanyoyin wucin gadi an gabatar da su a cikin Hoto na 1 da 1. Hoto na 3a da 4. A cikin hoto na 4a, b yana nuna ƙarfin lantarki da aka haifar a cikin wayar SMA da ƙarfin da mai kunnawa ya samar a matsayin aikin lokaci. A lokacin canjin baya (zafi), lokacin da zafin waya na SMA, \(T
(a) Sakamakon kwaikwayo yana nuna rarrabawar zafin jiki da zafin haɗuwa da damuwa ya haifar a cikin mai kunna divalerate na tushen SMA. Lokacin da zafin waya ya ketare zafin canjin austenite a matakin dumama, zafin canjin austenite da aka gyara ya fara ƙaruwa, kuma haka nan, lokacin da zafin sandar waya ya ketare zafin canjin martensitic a matakin sanyaya, zafin canjin martensitic yana raguwa. SMA don yin samfurin nazari na tsarin kunnawa. (Don cikakken bayani game da kowane ƙaramin tsarin samfurin Simulink, duba sashin ƙarin fayil ɗin.)
An nuna sakamakon nazarin rarraba sigogi daban-daban don zagayowar wutar lantarki ta 7V guda biyu (zagayen dumama na daƙiƙa 10 da zagayen sanyi na daƙiƙa 15). Yayin da (ac) da (e) ke nuna rarrabawa akan lokaci, a gefe guda kuma, (d) da (f) suna nuna rarrabawa da zafin jiki. Ga yanayin shigarwar da ya dace, matsakaicin damuwa da aka lura shine 106 MPa (ƙasa da 345 MPa, ƙarfin samar da waya), ƙarfin shine 150 N, matsakaicin motsi shine 270 µm, kuma mafi ƙarancin girman martensitic shine 0.91. A gefe guda kuma, canjin damuwa da canjin ɓangaren girma na martensite tare da zafin jiki suna kama da halayen hysteresis.
Wannan bayanin ya shafi sauyawa kai tsaye (sanyaya) daga matakin austenite zuwa matakin martensite, inda zafin waya na SMA (T) da zafin ƙarshe na matakin martensite da aka gyara da damuwa (\(M_f^{\prime}\ )) yayi kyau kwarai da gaske. A hoto na 4d,f yana nuna canjin matsin lamba da aka haifar (\(\sigma\)) da kuma ƙaramin juzu'in martensite (\(\xi\)) a cikin wayar SMA a matsayin aikin canjin zafin waya na SMA (T), don duka zagayowar tuƙi. A hoto na 3a yana nuna canjin zafin waya na SMA tare da lokaci dangane da bugun ƙarfin lantarki na shigarwa. Kamar yadda za a iya gani daga hoton, zafin waya yana ci gaba da ƙaruwa ta hanyar samar da tushen zafi a sifili ƙarfin lantarki da kuma sanyayawar convective daga baya. A lokacin dumama, sake fasalin martensite zuwa yanayin austenite yana farawa ne lokacin da zafin waya na SMA (T) ya ratsa zafin austenite nucleation da aka gyara da damuwa (\(A_s^{\prime}\)). A wannan lokacin, ana matse wayar SMA kuma mai kunna wutar yana samar da ƙarfi. Haka kuma a lokacin sanyaya, lokacin da zafin waya na SMA (T) ya ratsa zafin nucleation na yanayin martensite da aka gyara da damuwa (\(M_s^{\prime}\)) akwai canji mai kyau daga matakin austenite zuwa matakin martensite. Ƙarfin tuƙi yana raguwa.
Ana iya samun manyan fannoni na ingancin tuƙi na bimodal bisa ga SMA daga sakamakon kwaikwayo. Idan aka yi amfani da ƙarfin lantarki, zafin wayar SMA yana ƙaruwa saboda tasirin dumama Joule. An saita ƙimar farko ta ɓangaren ƙarar martensite (\(\xi\)) zuwa 1, tunda kayan yana cikin matakin martensitic gaba ɗaya. Yayin da wayar ke ci gaba da zafi, zafin wayar SMA ya wuce zafin austenite nucleation da aka gyara da damuwa \(A_s^{\prime}\), wanda ke haifar da raguwar ɓangaren ƙarar martensite, kamar yadda aka nuna a Hoto na 4c. Bugu da ƙari, a Hoto na 4e yana nuna rarraba bugun bugun na'urar a cikin lokaci, da kuma a Hoto na 5 - ƙarfin tuƙi a matsayin aikin lokaci. Tsarin daidaito mai alaƙa ya haɗa da zafin jiki, ɓangaren ƙarar martensite, da damuwa da ke tasowa a cikin waya, wanda ke haifar da raguwar wayar SMA da ƙarfin da mai kunnawa ya samar. Kamar yadda aka nuna a Hoto na 4d, f, bambancin ƙarfin lantarki tare da zafin jiki da bambancin ƙarar martensite tare da zafin jiki sun dace da halayen hysteresis na SMA a cikin yanayin da aka kwaikwayi a 7 V.
An samo kwatancen sigogin tuƙi ta hanyar gwaje-gwaje da lissafin nazari. An sanya wayoyi a cikin ƙarfin shigarwar da aka kunna na 7 V na daƙiƙa 10, sannan a sanyaya na daƙiƙa 15 (lokacin sanyaya) a cikin zagaye biyu. An saita kusurwar pinnate zuwa \(40^{\circ}\) kuma an saita tsawon farko na wayar SMA a cikin kowace ƙafar fil guda zuwa 83mm. (a) Auna ƙarfin tuƙi da ƙwayar kaya (b) Kula da zafin waya tare da kyamarar infrared mai zafi.
Domin fahimtar tasirin sigogin jiki akan ƙarfin da tuƙi ke samarwa, an gudanar da bincike kan ƙarfin da samfurin lissafi ke da shi ga sigogin jiki da aka zaɓa, kuma an tsara sigogin bisa ga tasirinsu. Da farko, an yi samfurin sigogin samfuri ta amfani da ƙa'idodin ƙira na gwaji waɗanda suka biyo bayan rarrabawa iri ɗaya (duba Sashe na Ƙarin kan Nazarin Jin Daɗi). A wannan yanayin, sigogin samfurin sun haɗa da ƙarfin shigarwa (\(V_{in}\)), tsawon waya ta SMA ta farko (\(l_0\)), kusurwar alwatika (\(\alpha\)), madaidaicin bazara mai bias (\(K_x\ )), ma'aunin canja wurin zafi mai convective (\(h_T\)) da adadin rassan unimodal (n). A mataki na gaba, an zaɓi ƙarfin tsoka mai ƙarfi azaman buƙatar ƙira na nazari kuma an sami tasirin parametric na kowane saitin masu canji akan ƙarfi. An samo zane-zanen guguwa don nazarin jin daɗi daga ma'aunin haɗin gwiwa na kowane siga, kamar yadda aka nuna a Hoto na 6a.
(a) An nuna ƙimar ma'aunin daidaitawa na sigogin samfurin da tasirinsu akan matsakaicin ƙarfin fitarwa na ƙungiyoyi 2500 na musamman na sigogin samfurin da ke sama a cikin taswirar guguwa. Jadawalin yana nuna haɗin matsayi na ma'auni na alamomi da yawa. A bayyane yake cewa \(V_{in}\) shine kawai sigar da ke da alaƙa mai kyau, kuma \(l_0\) shine sigar da ke da mafi girman haɗin mara kyau. Tasirin sigogi daban-daban a cikin haɗuwa daban-daban akan ƙarfin tsoka mafi girma an nuna shi a cikin (b, c). \(K_x\) yana tsakanin 400 zuwa 800 N/m kuma n yana tsakanin 4 zuwa 24. Voltage (\(V_{in}\)) ya canza daga 4V zuwa 10V, tsawon waya (\(l_{0 } \)) ya canza daga 40 zuwa 100 mm, kuma kusurwar wutsiya (\(\alpha \)) ya bambanta daga \ (20 - 60 \, ^ {\circ }\).
A kan hoto na 6a, yana nuna taswirar guguwa mai ma'aunin haɗin kai daban-daban ga kowane siga tare da buƙatun ƙirar ƙarfin tuƙi mafi girma. Daga hoto na 6a, za a iya ganin cewa sigar ƙarfin lantarki (\(V_{in}\)) tana da alaƙa kai tsaye da matsakaicin ƙarfin fitarwa, kuma ma'aunin canja wurin zafi mai convective (\(h_T\)), kusurwar harshen wuta (\(alpha\)), ma'aunin bazara mai motsi (\(K_x\)) yana da alaƙa mara kyau da ƙarfin fitarwa da tsawon farko (\(l_0\)) na wayar SMA, kuma adadin rassan unimodal (n) yana nuna haɗin kai mai ƙarfi a juye. A cikin yanayin haɗin kai tsaye. A cikin yanayin ƙimar mafi girma na ma'aunin haɗin wutar lantarki (\(V_ {in}\)) yana nuna cewa wannan sigar tana da mafi girman tasiri akan fitowar wutar. Wani irin wannan bincike yana auna ƙarfin kololuwa ta hanyar kimanta tasirin sigogi daban-daban a cikin haɗuwa daban-daban na sararin lissafi guda biyu, kamar yadda aka nuna a Hoto na 6b, c. \(V_{in}\) da \(l_0\), \(\alpha\) da \(l_0\) suna da siffofi iri ɗaya, kuma jadawalin ya nuna cewa \(V_{in}\) da \(\alpha\) da \(\alpha\) suna da siffofi iri ɗaya. Ƙananan ƙimar \(l_0\) suna haifar da ƙarfin kololuwa mafi girma. Sauran zane-zane guda biyu sun yi daidai da Hoto na 6a, inda n da \(K_x\) suna da alaƙa mara kyau kuma \(V_{in}\) suna da alaƙa mai kyau. Wannan nazarin yana taimakawa wajen fayyace da daidaita sigogin tasiri waɗanda za a iya daidaita ƙarfin fitarwa, bugun jini da ingancin tsarin tuƙi zuwa ga buƙatu da aikace-aikace.
Aikin bincike na yanzu yana gabatar da kuma bincika tuƙi mai tsari tare da matakan N. A cikin tsarin matakai biyu, kamar yadda aka nuna a Hoto na 7a, inda maimakon kowace waya ta SMA ta mai aiki matakin farko, an cimma tsarin bimodal, kamar yadda aka nuna a Hoto na 9e. A Hoto na 7c yana nuna yadda ake ɗaure wayar SMA a kusa da hannu mai motsi (hannun taimako) wanda ke motsawa kawai a cikin alkiblar tsayi. Duk da haka, babban hannun mai motsi yana ci gaba da motsawa kamar yadda hannun mai motsi na mai aiki mataki na 1 yake motsawa da tuƙi na mataki na farko. Yawanci, ana ƙirƙirar tuƙi na mataki na N ta hanyar maye gurbin wayar SMA mataki na \(N-1\) da tuƙi na mataki na farko. Sakamakon haka, kowane reshe yana kwaikwayon tuƙi na mataki na farko, ban da reshe wanda ke riƙe da wayar da kanta. Ta wannan hanyar, ana iya ƙirƙirar tsare-tsare masu tsari waɗanda ke ƙirƙirar ƙarfi waɗanda suka fi ƙarfin tuƙi na farko sau da yawa. A cikin wannan binciken, ga kowane mataki, an yi la'akari da tsawon wayar SMA mai tasiri na 1 m, kamar yadda aka nuna a cikin tsarin tebur a Hoto na 7d. Wutar lantarki ta kowace waya a cikin kowane tsari na unimodal da kuma matsin lamba da aka samu da kuma ƙarfin lantarki a cikin kowane ɓangaren waya na SMA iri ɗaya ne a kowane mataki. A cewar samfurin nazarinmu, ƙarfin fitarwa yana da alaƙa mai kyau da matakin, yayin da ƙaura ke da alaƙa mara kyau. A lokaci guda, akwai musayar ra'ayi tsakanin ƙaura da ƙarfin tsoka. Kamar yadda aka gani a cikin hoto na 7b, yayin da aka cimma matsakaicin ƙarfi a cikin mafi girman adadin yadudduka, ana lura da mafi girman ƙaura a cikin mafi ƙarancin Layer. Lokacin da aka saita matakin matsayi zuwa \(N=5\), an sami ƙarfin tsoka mafi girma na 2.58 kN tare da bugun jini 2 da aka lura \(\upmu\)m. A gefe guda kuma, tuƙi na mataki na farko yana haifar da ƙarfin N 150 a bugun jini na 277 \(\upmu\)m. Masu kunna abubuwa masu matakai da yawa suna iya kwaikwayon ainihin tsokoki na halitta, inda tsokoki na wucin gadi bisa ga ƙarfen ƙwaƙwalwar ajiya na siffar suna iya samar da ƙarfi mafi girma tare da motsi daidai da mafi kyau. Iyakokin wannan ƙaramin ƙira shine yayin da tsarin girma ke ƙaruwa, motsi yana raguwa sosai kuma sarkakiyar tsarin kera tuƙi yana ƙaruwa.
(a) An nuna tsarin mai kunna layi mai siffar ma'ajiyar kayan aiki mai matakai biyu (\(N=2\)) a cikin tsarin bimodal. An cimma samfurin da aka gabatar ta hanyar maye gurbin wayar SMA a cikin mai kunna layi na mataki na farko tare da wani mai kunna layi na mataki ɗaya. (c) Tsarin mai kunna layi na mataki na biyu mai lanƙwasa. (b) An bayyana rarrabawar ƙarfi da ƙaura dangane da adadin matakan. An gano cewa ƙarfin kololuwar mai kunna yana da alaƙa mai kyau da matakin sikelin akan jadawalin, yayin da bugun yana da alaƙa mara kyau da matakin sikelin. Wutar lantarki da ƙarfin lantarki na gaba a kowane waya suna ci gaba da kasancewa a kowane matakai. (d) Teburin yana nuna adadin famfo da tsawon wayar SMA (fiber) a kowane mataki. An nuna halayen wayoyi ta hanyar index 1, kuma adadin rassan sakandare (wanda aka haɗa da ƙafar farko) an nuna shi ta hanyar mafi girman lamba a cikin subscript. Misali, a mataki na 5, \(n_1\) yana nufin adadin wayoyi na SMA da ke cikin kowane tsarin bimodal, kuma \(n_5\) yana nufin adadin ƙafafun taimako (wanda aka haɗa da babban ƙafa).
Masu bincike da yawa sun gabatar da hanyoyi daban-daban don yin kwaikwayon halayen SMAs tare da ƙwaƙwalwar siffa, wanda ya dogara da halayen thermomechanical tare da canje-canjen macroscopic a cikin tsarin lu'ulu'u da ke da alaƙa da canjin lokaci. Tsarin hanyoyin daidaitawa yana da rikitarwa a zahiri. Tsarin yanayin yanayi da aka fi amfani da shi shine Tanaka28 ya gabatar kuma ana amfani da shi sosai a aikace-aikacen injiniya. Tsarin yanayin yanayi da Tanaka [28] ya gabatar yana ɗauka cewa ɓangaren girma na martensite aiki ne mai mahimmanci na zafin jiki da damuwa. Daga baya, Liang da Rogers29 da Brinson30 sun gabatar da samfurin inda aka ɗauka cewa yanayin canjin yanayi shine aikin cosine na ƙarfin lantarki da zafin jiki, tare da ɗan gyare-gyare ga samfurin. Becker da Brinson sun gabatar da samfurin motsi bisa ga zane-zanen lokaci don yin kwaikwayon halayen kayan SMA a ƙarƙashin yanayin lodi na ba bisa ƙa'ida ba da kuma sauye-sauye na ɓangare. Banerjee32 yana amfani da hanyar yanayin yanayin yanayi na Bekker da Brinson31 don kwaikwayon wani mataki na sarrafa 'yanci wanda Elahinia da Ahmadian33 suka haɓaka. Hanyoyin motsa jiki bisa ga zane-zanen matakai, waɗanda ke la'akari da canjin ƙarfin lantarki mara motsi tare da zafin jiki, suna da wahalar aiwatarwa a aikace-aikacen injiniya. Elakhinia da Ahmadian suna jawo hankali ga waɗannan gazawar samfuran yanayin halitta kuma suna ba da shawarar wani tsari mai faɗi don nazarin da bayyana yanayin ƙwaƙwalwar siffofi a ƙarƙashin kowane yanayi mai rikitarwa na lodi.
Tsarin tsarin wayar SMA yana ba da damuwa (\(\sigma\)), nau'in (\(\epsilon\)), zafin jiki (T), da kuma ɓangaren girman martensite (\(\xi\)) na wayar SMA. Tanaka28 ne ya fara gabatar da samfurin tsari na phenomenological kuma daga baya Liang29 da Brinson30 suka amince da shi. Tsarin da aka samo daga lissafin yana da siffar:
inda E shine tsarin SMA Young wanda ya dogara da mataki wanda aka samu ta amfani da \(\displaystyle E=\xi E_M + (1-\xi )E_A\) da \(E_A\) da \(E_M\) waɗanda ke wakiltar tsarin Young sune matakan austenitic da martensitic, bi da bi, kuma ana wakiltar ma'aunin faɗaɗa zafi ta hanyar \(\theta _T\). Matsayin gudummawar canjin lokaci shine \(\Omega = -E \epsilon _L\) da \(\epsilon _L\) shine matsakaicin nau'in da za'a iya dawo dashi a cikin wayar SMA.
Daidaiton yanayin motsi na mataki ya yi daidai da aikin cosine da Liang29 ya ƙirƙira kuma daga baya Brinson30 ya karɓa maimakon aikin exponential da Tanaka28 ya gabatar. Tsarin sauyin lokaci wani ƙarin tsari ne na samfurin da Elakhinia da Ahmadian34 suka gabatar kuma an gyara shi bisa ga yanayin sauyin lokaci da Liang29 da Brinson30 suka bayar. Yanayin da aka yi amfani da shi don wannan samfurin canjin lokaci yana aiki a ƙarƙashin nauyin thermomechanical mai rikitarwa. A kowane lokaci na lokaci, ana ƙididdige ƙimar ɓangaren girma na martensite lokacin yin kwaikwayon lissafin tsari.
Daidaiton sake fasalin da ke kula da sake fasalin, wanda aka bayyana ta hanyar canjin martensite zuwa austenite a ƙarƙashin yanayin dumama, shine kamar haka:
inda \(\xi\) shine ɓangaren girma na martensite, \(\xi _M\) shine ɓangaren girma na martensite da aka samu kafin a dumama, \(\displaystyle a_A = \pi /(A_f – A_s)\), \( \displaystyle b_A = -a_A/C_A\) da \(C_A\) - sigogin kusanci mai lanƙwasa, T - zafin waya na SMA, \(A_s\) da \(A_f\) - farkon da ƙarshen matakin austenite, bi da bi, zafin jiki.
Daidaiton sarrafa canji kai tsaye, wanda canjin yanayin austenite zuwa martensite ke wakilta a ƙarƙashin yanayin sanyaya, shine:
inda \(\xi _A\) shine ƙaramin juzu'in girman martensite da aka samu kafin sanyaya, \(\displaystyle a_M = \pi /(M_s – M_f)\), \(\displaystyle b_M = -a_M/C_M\) da \(C_M \) - sigogin daidaitawa na lanƙwasa, zafin waya na T - SMA, \(M_s\) da \(M_f\) - zafin martensite na farko da na ƙarshe, bi da bi.
Bayan an bambanta daidaito (3) da (4), ana sauƙaƙe lissafin canji na juyi da na kai tsaye zuwa ga tsari mai zuwa:
A lokacin canjin gaba da baya \(\eta _{\sigma}\) da \(\eta _{T}\) suna ɗaukar ƙima daban-daban. An samo asali daidaiton da ke da alaƙa da \(\eta _{\sigma}\) da \(\eta _{T}\) kuma an tattauna dalla-dalla a cikin wani sashe na ƙarin.
Makamashin zafi da ake buƙata don ɗaga zafin waya ta SMA ya fito ne daga tasirin dumama Joule. Makamashin zafi da wayar SMA ke sha ko ta saki ana wakilta shi da zafin canji mai ɓoye. Asarar zafi a cikin wayar SMA ta faru ne saboda tilastawar convection, kuma idan aka yi la'akari da tasirin radiation mara kyau, daidaiton makamashin zafi kamar haka:
Inda \(m_{waya}\) shine jimlar nauyin wayar SMA, \(c_{p}\) shine takamaiman ƙarfin zafi na SMA, \(V_{in}\) shine ƙarfin lantarki da aka yi amfani da shi akan wayar, \(R_{ohm} \ ) - juriya mai dogaro da lokaci SMA, wanda aka ayyana a matsayin; \(R_{ohm} = (l/A_{cross})[\xi r_M + (1-\xi )r_A]\ ) inda \(r_M\ ) da \(r_A\) sune juriyar matakin SMA a cikin martensite da austenite, bi da bi, \(A_{c}\) shine yankin saman wayar SMA, \(\Delta H \) ƙarfe ne na ƙwaƙwalwar siffa. Zafin da ke ɓoye na canzawar waya, T da \(T_{\infty}\) sune yanayin zafi na wayar SMA da muhalli, bi da bi.
Lokacin da aka kunna waya mai siffar memory alloy, wayar tana matsewa, tana ƙirƙirar ƙarfi a kowane reshe na ƙirar bimodal da ake kira ƙarfin fiber. Ƙarfin zaruruwa a cikin kowane zare na wayar SMA tare suna ƙirƙirar ƙarfin tsoka don kunnawa, kamar yadda aka nuna a Hoto na 9e. Saboda kasancewar maɓuɓɓugar ruwa mai son zuciya, jimillar ƙarfin tsoka na mai kunna Nth multilayer shine:
Ana iya samun ƙarfin tsoka na samfurin tuƙi na bimodal na mataki na farko kamar haka:
inda n shine adadin ƙafafu marasa motsi, \(F_m\) shine ƙarfin tsoka da tuƙi ke samarwa, \(F_f\) shine ƙarfin zare a cikin wayar SMA, \(K_x\) shine taurin son zuciya. spring, \(\alpha\) shine kusurwar alwatika, \(x_0\) shine farkon maɓuɓɓugar son zuciya don riƙe kebul na SMA a cikin matsayin da aka riga aka yi taurin kai, kuma \(\Delta x\) shine tafiyar mai kunnawa.
Jimlar motsi ko motsi na drive (\(\Delta x\)) ya danganta da ƙarfin lantarki (\(\sigma\)) da matsin lamba (\(\epsilon\)) akan wayar SMA na matakin N, an saita drive ɗin zuwa (duba Hoto na ƙarin ɓangaren fitarwa):
Lissafin kinematic suna ba da alaƙa tsakanin nakasar tuƙi (\(\epsilon\)) da nakasar ko nakasar (\(\Delta x\)). Nakasar wayar Arb a matsayin aikin tsawon wayar Arb ta farko (\(l_0\)) da tsawon wayar (l) a kowane lokaci t a cikin reshe ɗaya na unimodal shine kamar haka:
inda \(l = \sqrt{l_0^2 +(\Delta x_1)^2 – 2 l_0 (\Delta x_1) \cos \alpha _1}\) ake samu ta hanyar amfani da dabarar cosine a cikin \(\Delta\)ABB ', kamar yadda aka nuna a Hoto na 8. Don tuƙi na mataki na farko (\(N = 1\)), \(\Delta x_1\) shine \(\Delta x\), kuma \(\alpha _1\) shine \(\alpha \) kamar yadda aka nuna a Hoto na 8, ta hanyar bambance lokaci daga Daidaito (11) da maye gurbin ƙimar l, ana iya rubuta ƙimar nau'in kamar haka:
inda \(l_0\) shine tsawon farko na wayar SMA, l shine tsawon wayar a kowane lokaci t a cikin reshe ɗaya na unimodal, \(\epsilon\) shine nakasar da aka haɓaka a cikin wayar SMA, kuma \(\alpha \) shine kusurwar alwatika, \(\Delta x\) shine ma'aunin tuƙi (kamar yadda aka nuna a Hoto na 8).
Duk tsarin n mai tsayi ɗaya (\(n=6\) a cikin wannan hoton) an haɗa su a jere tare da \(V_{in}\) azaman ƙarfin shigarwa. Mataki na I: Zane-zanen tsari na wayar SMA a cikin tsarin bimodal a ƙarƙashin yanayin ƙarfin sifili Mataki na II: An nuna tsarin sarrafawa inda aka matse wayar SMA saboda juyawar juyawa, kamar yadda layin ja ya nuna.
A matsayin hujjar ra'ayi, an ƙirƙiri wata na'urar bimodal mai tushen SMA don gwada yadda aka samo asali daga daidaitattun da ke ƙasa tare da sakamakon gwaji. An nuna samfurin CAD na na'urar bimodal mai layi a cikin fig. 9a. A gefe guda kuma, a cikin fig. 9c yana nuna sabon ƙira da aka gabatar don haɗin prismatic mai juyawa ta amfani da na'urar aiki mai tushen SMA mai hawa biyu tare da tsarin bimodal. An ƙera sassan na'urar ta amfani da kera ƙari akan firintar 3D ta Ultimaker 3 Extended. Kayan da ake amfani da shi don buga abubuwan haɗin 3D shine polycarbonate wanda ya dace da kayan da ke jure zafi saboda yana da ƙarfi, dorewa kuma yana da zafin canji mai yawa na gilashi (110-113 \(^{\circ }\) C). Bugu da ƙari, an yi amfani da waya mai siffar ƙarfe na Dynalloy, Inc. Flexinol a cikin gwaje-gwajen, kuma an yi amfani da kaddarorin kayan da suka dace da wayar Flexinol a cikin kwaikwayon. An shirya wayoyi masu yawa na SMA a matsayin zare da ke cikin tsarin tsokoki na bimodal don samun ƙarfin da masu kunna abubuwa masu yawa ke samarwa, kamar yadda aka nuna a Hoto na 9b, d.
Kamar yadda aka nuna a Hoto na 9a, kusurwar da aka samar ta hanyar wayar hannu mai motsi SMA ana kiranta kusurwar (\(\alpha\)). Tare da maƙallan ƙarshe da aka haɗa a maƙallan hagu da dama, ana riƙe wayar SMA a kusurwar bimodal da ake so. An tsara na'urar bazara mai bias da ke riƙe a kan mahaɗin bazara don daidaita ƙungiyoyin faɗaɗa bazara daban-daban bisa ga adadin (n) na zaruruwan SMA. Bugu da ƙari, an tsara wurin sassan motsi ta yadda wayar SMA za ta fallasa ga yanayin waje don sanyayawar convection. Faranti na sama da na ƙasa na taron da za a iya cirewa suna taimakawa wajen sanyaya wayar SMA tare da yankewa da aka fitar da aka tsara don rage nauyi. Bugu da ƙari, an gyara ƙarshen wayar CMA guda biyu zuwa ga tashoshin hagu da dama, bi da bi, ta hanyar crimp. Ana haɗa bututun ruwa zuwa ƙarshen taron da za a iya motsawa don kiyaye sarari tsakanin faranti na sama da na ƙasa. Ana kuma amfani da bututun ruwa don amfani da ƙarfin toshewa ga firikwensin ta hanyar lamba don auna ƙarfin toshewa lokacin da aka kunna wayar SMA.
Tsarin tsokar bimodal SMA yana da alaƙa da wutar lantarki a jere kuma yana aiki da ƙarfin bugun shigarwa. A lokacin zagayowar bugun ƙarfin lantarki, lokacin da aka yi amfani da ƙarfin lantarki kuma aka dumama wayar SMA sama da zafin farko na austenite, tsawon wayar a cikin kowane zare zai gajarta. Wannan ja da baya yana kunna ƙaramin haɗin hannu mai motsi. Lokacin da aka rage ƙarfin lantarki a cikin zagayowar iri ɗaya, wayar SMA mai zafi ta sanyaya ƙasa da zafin saman martensite, ta haka ne ta koma matsayinta na asali. A ƙarƙashin yanayin damuwa sifili, wayar SMA da farko ana shimfiɗa ta ta hanyar maɓuɓɓugar bias don isa ga yanayin martensitic da aka cire. Sukurori, wanda wayar SMA ta ratsa, yana motsawa saboda matsi da aka ƙirƙira ta hanyar amfani da bugun ƙarfin lantarki zuwa wayar SMA (SPA ta kai matakin austenite), wanda ke haifar da kunna lever mai motsi. Lokacin da aka ja da baya da wayar SMA, maɓuɓɓugar bias ta ƙirƙiri ƙarfin da ke adawa da ita ta hanyar ƙara shimfiɗa maɓuɓɓugar. Lokacin da matsin lamba a cikin ƙarfin lantarki na turawa ya zama sifili, wayar SMA tana tsawaita kuma tana canza siffarta saboda sanyayawar convection da aka tilasta, tana kaiwa ga matakin martensitic sau biyu.
Tsarin mai kunna layi na SMA da aka gabatar yana da tsarin bimodal wanda wayoyin SMA ke kusurwa. (a) yana nuna samfurin CAD na samfurin, wanda ya ambaci wasu daga cikin abubuwan da ke cikinsa da ma'anarsu ga samfurin, (b, d) yana wakiltar samfurin gwaji da aka haɓaka35. Yayin da (b) yana nuna saman hoton samfurin tare da haɗin lantarki da maɓuɓɓugan bias da ma'aunin matsin lamba da aka yi amfani da su, (d) yana nuna hangen nesa na saitin. (e) Zane na tsarin kunna layi tare da wayoyin SMA da aka sanya bimodally a kowane lokaci t, yana nuna alkibla da hanyar ƙarfin zare da tsoka. (c) An gabatar da haɗin prism mai juyawa 2-DOF don tura mai kunna layi na SMA mai hawa biyu. Kamar yadda aka nuna, hanyar haɗin tana watsa motsi na layi daga ƙasan tuƙi zuwa saman hannu, yana ƙirƙirar haɗin juyawa. A gefe guda kuma, motsi na biyu na prism iri ɗaya ne da motsi na tuƙin mataki na farko mai matakai da yawa.
An gudanar da wani bincike na gwaji kan samfurin da aka nuna a Hoto na 9b don tantance aikin tuƙi na bimodal bisa ga SMA. Kamar yadda aka nuna a Hoto na 10a, saitin gwajin ya ƙunshi samar da wutar lantarki ta DC mai shirye-shirye don samar da wutar lantarki ta shigarwa zuwa wayoyin SMA. Kamar yadda aka nuna a Hoto na 10b, an yi amfani da ma'aunin matsin lamba na piezoelectric (PACEline CFT/5kN) don auna ƙarfin toshewa ta amfani da mai rikodin bayanai na Graphtec GL-2000. Mai masaukin yana rikodin bayanan don ƙarin bincike. Ma'aunin matsin lamba da amplifiers na caji suna buƙatar samar da wutar lantarki akai-akai don samar da siginar ƙarfin lantarki. Ana canza siginar da ta dace zuwa fitarwar wutar lantarki bisa ga ƙarfin firikwensin ƙarfin piezoelectric da sauran sigogi kamar yadda aka bayyana a Tebur na 2. Lokacin da aka yi amfani da bugun ƙarfin lantarki, zafin wayar SMA yana ƙaruwa, yana sa wayar SMA ta matse, wanda ke sa mai kunnawa ya samar da ƙarfi. Sakamakon gwaji na fitowar ƙarfin tsoka ta bugun ƙarfin lantarki na shigarwa na 7 V an nuna su a Hoto na 2a.
(a) An kafa tsarin kunna sauti mai layi na SMA a cikin gwajin don auna ƙarfin da mai kunna sauti ya samar. Tarin kaya yana auna ƙarfin toshewa kuma ana amfani da wutar lantarki ta DC 24 V. An yi amfani da raguwar ƙarfin lantarki na V 7 a tsawon kebul ɗin ta amfani da wutar lantarki ta GW Instek mai shirye-shirye ta DC. Wayar SMA tana raguwa saboda zafi, kuma hannun da ke motsawa yana tuntuɓar tarin kaya kuma yana yin ƙarfin toshewa. Tarin kaya yana haɗe da mai rikodin bayanai na GL-2000 kuma an adana bayanan a kan mai masaukin baki don ƙarin sarrafawa. (b) Zane yana nuna jerin abubuwan da ke cikin saitin gwaji don auna ƙarfin tsoka.
Ƙarfin zafi yana burgewa ga ƙwayoyin halittar ƙwaƙwalwa, don haka zafin jiki ya zama muhimmin siga don nazarin yanayin ƙwaƙwalwar siffar. A gwaji, kamar yadda aka nuna a Hoto na 11a, an yi amfani da na'urar auna zafin jiki ta SMA mai amfani da divalerate. An yi amfani da ƙarfin shigarwar DC mai tsari ga wayoyin SMA a cikin saitin gwaji, kamar yadda aka nuna a Hoto na 11b. An auna canjin zafin jiki na wayar SMA a ainihin lokaci ta amfani da kyamarar LWIR mai ƙuduri mai girma (FLIR A655sc). Mai masaukin yana amfani da manhajar ResearchIR don yin rikodin bayanai don ƙarin aiki bayan an gama aiki. Lokacin da aka yi amfani da bugun ƙarfin lantarki, zafin wayar SMA yana ƙaruwa, wanda ke haifar da raguwar wayar SMA. A Hoto na 2b yana nuna sakamakon gwaji na zafin waya SMA idan aka kwatanta da lokacin bugun ƙarfin lantarki na shigarwar 7V.
Lokacin Saƙo: Satumba-28-2022
