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A na-eji ndị na-eme ihe eme ihe n'ebe niile ma na-emepụta mmegharị ahụ a na-achịkwa site n'itinye ike mkpali ziri ezi ma ọ bụ torque iji rụọ ọrụ dị iche iche na nrụpụta na akpaaka ụlọ ọrụ.Mkpa draịva ngwa ngwa, obere na nke ọma na-ebuba ihe ọhụrụ n'ime imepụta draịva.Shape Memory Alloy (SMA) draịva na-enye ọtụtụ uru karịa draịva a na-ahụkarị, gụnyere oke ike na oke ibu.N'ime akwụkwọ edemede a, e mepụtara onye na-eme ihe nke dabeere na SMA abụọ nke na-ejikọta uru nke uru anụ ahụ feathery nke usoro ndu na ihe pụrụ iche nke SMA.Ọmụmụ ihe a na-enyocha ma gbasaa ndị na-arụ ọrụ SMA gara aga site na ịmepụta usoro mgbakọ na mwepụ nke ọhụrụ actuator dabere na nhazi waya SMA bimodal ma nwalee ya na nnwale.E jiri ya tụnyere draịva amara ama dabere na SMA, ike mmegharị nke draịva ọhụrụ ahụ dịkarịa ala ugboro 5 karịa (ruo 150 N).Mbelata nha nha nha nhata bụ ihe dịka 67%.Nsonaazụ nke nleba anya nke ụdị mgbakọ na mwepụ bara uru maka ịmegharị paramita imewe yana ịghọta paramita isi.Ọmụmụ ihe a na-egosikwa draịva ọkwa dị iche iche nke Nth nke enwere ike iji mee ka ọ dịkwuo mma.Ndị na-eme akwara dipvalerate dabere na SMA nwere ngwa dị iche iche, site na arụ ọrụ ụlọ ruo na sistemụ nnyefe ọgwụ ziri ezi.
Usoro ndu, dị ka akwara muscular nke anụ mammals, nwere ike ịgbalite ọtụtụ ndị na-arụ ọrụ aghụghọ1.Mammals nwere usoro akwara dị iche iche, nke ọ bụla na-arụ otu ebumnuche.Otú ọ dị, a pụrụ ikewa ọtụtụ n'ime nhazi nke anụ ahụ anụ ahụ mammali gaa n'ụdị abụọ sara mbara.Yiri na pennate.Na hamstrings na mgbanwe ndị ọzọ, dị ka aha ahụ na-egosi, musculature yiri ya nwere eriri akwara yiri akwara etiti.A na-ahịrị agbụ nke eriri akwara ma na-arụ ọrụ site na anụ ahụ jikọtara gburugburu ha.Ọ bụ ezie na a na-ekwu na mọzụlụ ndị a nwere nnukwu njem nlegharị anya (pasent na-ebelata), ike akwara ha niile nwere oke oke.N'ụzọ dị iche, na triceps calf muscle2 (mpụta gastrocnemius (GL) 3, medial gastrocnemius (GM) 4 na soleus (SOL)) na extensor femoris (quadriceps) 5,6 penate muscle anụ ahụ dị na anụ ahụ ọ bụla7.N'ime nhazi nke pinnate, eriri anụ ahụ dị na musculature bipennate dị n'akụkụ abụọ nke akwara etiti na akụkụ oblique (akụkụ pinnate).Pennate sitere na okwu Latin "penna", nke putara "pen", na, dika egosiri na fig.1 nwere ọdịdị dị ka nku.eriri nke uru ahụ pennate dị mkpụmkpụ na n'akuku ogologo axis nke uru ahụ.N'ihi nhazi nke pinnate, mkpokọta akwara ndị a na-ebelata, nke na-eduga na akụkụ transverse na longitudinal nke usoro mkpụmkpụ.N'aka nke ọzọ, ịgbalite mọzụlụ ndị a na-eduga n'ịdị ike ike zuru oke n'ihi ụzọ e si atụ mpaghara cross-section physiological.Ya mere, maka mpaghara ebe a na-agafe agafe, mọzụlụ pennate ga-esiwanye ike ma ga-emepụta ike dị elu karịa akwara nwere eriri ndị yiri ya.Ndị agha nke eriri onye ọ bụla na-emepụta na-emepụta ike anụ ahụ n'ogo macroscopic n'ime anụ ahụ ahụ.Tụkwasị na nke ahụ, ọ nwere ihe ndị dị otú ahụ pụrụ iche dị ka nkwụsị ngwa ngwa, nchebe megide mmebi nkwụsị, nkwụsị.Ọ na-agbanwe mmekọrịta dị n'etiti ntinye eriri na mmepụta ike akwara site n'iji njirimara pụrụ iche na mgbagwoju anya geometric nke nhazi eriri jikọtara ya na ahịrị akwara.
Egosipụtara bụ eserese schematic nke atụmatụ actuator dabere na SMA dị ugbu a n'ihe gbasara ihe owuwu muscular bimodal, dịka ọmụmaatụ (a), na-anọchite anya mmekọrịta nke ike tactile nke ngwaọrụ nwere ụdị aka nke SMA wires na-etinye n'elu igwe mkpanaka nwere ụkwụ abụọ nwere ụkwụ9,10., (b) Robotic orbital prosthesis nke nwere prosthesis orbital na-ebu mmiri nke SMA na-emegide ya.A na-achịkwa ọnọdụ nke anya prosthetic site na mgbaàmà sitere na muscle ocular nke anya11, (c) SMA actuators dị mma maka ngwa mmiri n'okpuru mmiri n'ihi nzaghachi ugboro ugboro na obere bandwit.N'ime nhazi a, a na-eji ndị na-eme ihe na-emepụta SMA eme ihe na-emegharị ebili mmiri site na ịmegharị mmegharị azụ, (d) SMA actuators na-eji mee ka a micro pipe nyocha robot nke nwere ike iji inch worm ngagharị ụkpụrụ, na-achịkwa mmegharị nke SMA wires n'ime ọwa 10, (e) na-egosi na ntụziaka nke contraction muscle emep uta eri na na-amụba contractile ike na gastrocnna na-egosi muscle akpụ n'ụdị na eriri eriri SMA. .
Ndị na-eme ihe abụrụla akụkụ dị mkpa nke sistemu igwe n'ihi ọtụtụ ngwa ha.Ya mere, mkpa nke obere, ngwa ngwa na ịrụ ọrụ nke ọma draịva na-aghọ oké egwu.N'agbanyeghị uru ha bara, draịva ọdịnala egosila na ọ dị oke ọnụ ma na-ewe oge iji kwado ya.Hydraulic na pneumatic actuators dị mgbagwoju anya ma dị oke ọnụ ma na-eyi uwe, nsogbu mmanye na ọdịda akụrụngwa.Na nzaghachi maka ọchịchọ, a na-elekwasị anya na ịmepụta ndị na-arụ ọrụ ọnụ ahịa dị ọnụ ala, nke kachasị mma na nke dị elu dabere na ihe smart.Nnyocha na-aga n'ihu na-eleba anya n'ụdị ebe nchekwa alloy (SMA) Layered actuators iji gboo mkpa a.Ndị na-eme ihe n'usoro dị iche iche n'ihi na ha na-ejikọta ọtụtụ ndị na-arụ ọrụ pụrụ iche n'ime sistemu ihe dị mgbagwoju anya geometric dị mgbagwoju anya iji nye ọrụ na-abawanye na gbasaa.N'akụkụ a, anụ ahụ mmadụ nke akọwara n'elu na-enye ọmarịcha ihe atụ multilayered nke mmetụ dị iche iche dị otú ahụ.Ọmụmụ ihe dị ugbu a na-akọwa draịva SMA multi-level nwere ọtụtụ ihe mbanye (SMA wires) dabara na nhazi eriri dị na mọzụlụ bimodal, nke na-eme ka arụmọrụ draịva niile dịkwuo mma.
Ebumnobi bụ isi nke onye na-eme ihe bụ iji mepụta ike arụ ọrụ dị ka ike na nchụpụ site n'ịgbanwe ike eletrik.Alloys ebe nchekwa ọdịdị bụ klas nke ihe "smart" nke nwere ike iweghachi ọdịdị ha na okpomọkụ dị elu.N'okpuru ibu dị elu, mmụba na okpomọkụ nke waya SMA na-eduga na mgbake, na-ebute njupụta ume ike dị elu ma e jiri ya tụnyere ihe dị iche iche jikọtara ọnụ kpọmkwem.N'otu oge ahụ, n'okpuru ibu ọrụ, SMA na-agbaji.N'okpuru ọnọdụ ụfọdụ, ibu cyclic nwere ike ịmịnye ma hapụ ike arụ ọrụ, na-egosipụta mgbanwe ọdịdị hysteritic nwere ike ịgbanwe.Ngwongwo ndị a pụrụ iche na-eme ka SMA dị mma maka sensọ, ịma jijiji na karịsịa actuators12.N'iburu nke a n'uche, enweela ọtụtụ nyocha n'ime draịva dabere na SMA.Ekwesiri iburu n'uche na ndị na-eme ihe ndị dabeere na SMA bụ ndị e mere iji nye ntụgharị ntụgharị na ntụgharị maka ngwa dị iche iche13,14,15.Ọ bụ ezie na e mepụtala ụfọdụ ihe na-eme rotary, ndị na-eme nchọpụta nwere mmasị karịsịa na ndị na-eme ihe n'ahịrị.Enwere ike kewaa ndị na-eme ihe n'ahịrị ahịrị n'ime ụdị atọ nke ndị na-eme ihe: otu akụkụ, nchụpụ na ihe dị iche iche 16.Na mbụ, e mepụtara ngwakọ ngwakọ yana SMA na draịva ndị ọzọ.Otu ihe atụ nke ngwakọ linear ngwakọ dabere na SMA bụ iji waya SMA nwere moto DC iji nye ike mmepụta nke gburugburu 100 N na nnukwu ọpụpụ17.
Otu n'ime mmepe mbụ na draịva dabere kpamkpam na SMA bụ draịva yiri SMA.N'iji ọtụtụ wires SMA, a na-emepụta draịva yiri SMA iji mee ka ike ike nke ụgbọala ahụ dịkwuo elu site n'itinye wires SMA18 niile n'otu oge.Njikọ njikọ nke actuators ọ bụghị naanị na-achọ ike ọzọ, kamakwa na-egbochi mmepụta ike nke otu waya.Mwepu ọzọ nke SMA dabeere actuators bụ oke njem ha nwere ike nweta.Iji dozie nsogbu a, e kere SMA cable beam nke nwere eriri na-agbanwe agbanwe ka ọ na-abawanye nchụpụ ma nweta mmegharị ahịrị, mana o meghị ka ndị agha dị elu19.Ihe arụrụ arụ na akwa maka robots dabere na alloys ebe nchekwa ọdịdị ka emepụtara nke ọma maka mmụba mmetụta20,21,22.Maka ngwa ebe achọrọ ọsọ dị elu, akọpụtala nfuli kọmpat na-eji obere ihe nkiri SMA maka ngwa micropump chụpụrụ23.Ugboro ugboro nke ihe nkiri SMA dị mkpa bụ isi ihe na-achịkwa ọsọ nke ọkwọ ụgbọ ala.Ya mere, SMA linear Motors nwere nzaghachi dị ike karịa SMA mmiri ma ọ bụ moto mkpara.Robotik dị nro na teknụzụ na-ejide aka bụ ngwa abụọ ọzọ na-eji ihe nrụpụta dabere na SMA.Dị ka ọmụmaatụ, iji dochie ọkọlọtọ actuator eji na oghere 25 N, e mepụtara a shape memory alloy parallel actuator 24.N'ọnọdụ ọzọ, a na-emepụta SMA soft actuator na-adabere na waya nwere matrix agbakwunyere nke nwere ike ịmepụta ike kachasị elu nke 30 N. N'ihi ihe eji arụ ọrụ ha, a na-ejikwa SMA na-emepụta ihe ndị na-eme ihe na-eme ka ihe ndị dị ndụ na-eṅomi.Otu n'ime mmepe dị otú ahụ gụnyere robot 12-cell nke bụ biomimetic nke anụ ahụ dị ka earthworm na SMA iji mee ka ọkpụkpụ sinusoidal na-agba ọkụ26,27.
Dịka e kwuru na mbụ, enwere oke na ike kachasị ike nke enwere ike ịnweta site na ndị na-eme ihe dabeere na SMA dị ugbu a.Iji dozie okwu a, ọmụmụ ihe a na-enye usoro akwara bimodal biomimetic.Na-akwali site udi ebe nchekwa alloy waya.Ọ na-enye usoro nhazi ọkwa nke gụnyere ọtụtụ wires ebe nchekwa alloy.Ka ọ dị ugbu a, ọ nweghị ndị na-eme ihe na SMA nwere ihe owuwu yiri ya ka akọpụtabeghị n'akwụkwọ.Usoro a pụrụ iche na nke ọhụrụ dabere na SMA ka emepụtara iji mụọ omume nke SMA n'oge nhazi akwara bimodal.Tụnyere ndị na-eme ihe dabere na SMA dị ugbu a, ebumnuche nke ọmụmụ a bụ imepụta onye na-eme ihe na-eme ihe biomimetic dipvalerate iji mepụta ike dị elu nke ukwuu na obere olu.Tụnyere draịva stepper moto a na-eji eme ihe na sistemu igwe na njikwa ụlọ HVAC, atụmatụ draịva bimodal dabere na SMA na-ebelata ịdị arọ nke usoro mbanye site na 67%.Na ndị na-esonụ, a na-eji okwu ahụ bụ "anụ ahụ" na "drive" mee ihe n'otu n'otu.Ọmụmụ ihe a na-enyocha simulation multiphysics nke ụdị mbanye a.A mụọla omume igwe nke sistemu ndị dị otú ahụ site na nnwale na usoro nyocha.A na-enyocha nkesa ike na okpomọkụ na ntinye ntinye nke 7 V. E mesịa, a na-eme nyocha parametric iji ghọta nke ọma mmekọrịta dị n'etiti isi ihe na mmepụta ike.N'ikpeazụ, a tụlere ndị na-arụ ọrụ nhazi ọkwa yana mmetụta ọkwa ọkwa ọkwa dị ka mpaghara nwere ike ime n'ọdịnihu maka ndị na-abụghị magnetik maka ngwa prosthetic.Dị ka nsonaazụ nke ọmụmụ ndị ahụ e kwuru n'elu si kwuo, iji otu ụlọ ọrụ na-emepụta ihe na-emepụta ike ma ọ dịkarịa ala ugboro anọ ma ọ bụ ise dị elu karịa ndị na-eme ihe dabeere na SMA.Na mgbakwunye, otu ike draịva nke draịva ọtụtụ ọkwa dị iche iche egosipụtara na ọ karịrị okpukpu iri karịa draịva dabere na SMA.Ọmụmụ ihe ahụ wee na-akọpụta ihe ndị bụ isi site na iji nyocha uche dị n'etiti atụmatụ dị iche iche na mgbanwe ntinye.Ogologo izizi nke waya SMA (\(l_0\)), akụkụ pinnate (\(\ alpha\)) na ọnụ ọgụgụ nke otu eriri (n) na eriri nke ọ bụla nwere mmetụta ọjọọ siri ike na ịdị ukwuu nke ike ịkwọ ụgbọala.ike, ebe voltaji ntinye (ike) tụgharịrị na-ejikọta ya nke ọma.
Waya SMA na-egosipụta mmetụta ebe nchekwa ọdịdị (SME) nke a hụrụ na ezinụlọ nickel-titanium (Ni-Ti) nke alloys.Na-emekarị, SMA na-egosipụta usoro abụọ dabere na ọnọdụ okpomọkụ: usoro okpomọkụ dị ala na oge okpomọkụ dị elu.Usoro abụọ a nwere ihe pụrụ iche n'ihi ọnụnọ nke kristal dị iche iche.N'ime oge austenite (oke okpomọkụ dị elu) dị n'elu mgbanwe okpomọkụ, ihe ahụ na-egosipụta ike dị elu ma na-adịghị mma n'okpuru ibu.Alloy na-akpa àgwà dị ka igwe anaghị agba nchara, n'ihi ya, ọ na-enwe ike idi elu actuation nrụgide.N'iji ohere a nke Ni-Ti alloys mee ihe, wires SMA na-adaba ka ọ bụrụ onye na-eme ihe.A na-emepụta ụdị nyocha kwesịrị ekwesị iji ghọta isi usoro nke omume thermal nke SMA n'okpuru mmetụta dị iche iche na ọdịdị geometric dị iche iche.Enwetara ezigbo nkwekọrịta n'etiti nsonaazụ nnwale na nyocha.
Emere ihe omumu ihe omumu na ihe nlere nke egosiri na Fig. 9a iji nyochaa oru ngo nke bimodal mbanye dabere na SMA.Abụọ n'ime ihe ndị a, ike nke draịva (ike akwara) na okpomọkụ nke waya SMA (SMA okpomọkụ), ka a tụrụ na nnwale.Dị ka voltaji dị iche iche na-abawanye n'ogologo dum nke waya na ụgbọala, okpomọkụ nke waya na-abawanye n'ihi na Joule kpo oku mmetụta.A na-etinye voltaji ntinye na nkeji abụọ nke 10-s (gosiri dị ka ntụpọ uhie na Fig. 2a, b) na oge 15-s dị jụụ n'etiti okirikiri ọ bụla.A na-atụle ike mgbochi ahụ site na iji piezoelectric strain gauge, na a na-enyocha nkesa okpomọkụ nke waya SMA ozugbo site na iji igwefoto LWIR dị elu dị elu nke sayensị (lee àgwà nke akụrụngwa eji na Tebụl 2).na-egosi na n'oge elu voltaji na-adọ, okpomọkụ nke waya na-amụba monotonically, ma mgbe ọ dịghị ugbu a na-eru, okpomọkụ nke waya na-anọgide na-ada.Na nhazi nnwale ugbu a, okpomọkụ nke waya SMA dara n'oge oge oyi, mana ọ ka dị n'elu okpomọkụ.Na fig.2e na-egosi foto nke okpomọkụ dị na waya SMA nke e si na igwefoto LWIR.N'aka nke ọzọ, na fig.2a na-egosi ike mgbochi nke sistemu mbanye na-emepụta.Mgbe ike akwara karịrị ike iweghachi nke mmiri, ogwe aka na-ebugharị, dị ka egosiri na foto 9a, na-amalite ịkwagharị.Ozugbo mmegharị ahụ malitere, ogwe aka nke nwere ike ibugharị na-abanye na ihe mmetụta, na-emepụta ike ahụ, dị ka egosiri na fig.2c ,d.Mgbe oke okpomọkụ dị nso na \(84\,^{\circ}hbox {C}\), ike kacha hụ bụ 105 N.
Eserese ahụ na-egosi nsonaazụ nnwale nke okpomọkụ nke waya SMA na ike sitere na bimodal actuator dabere na SMA n'oge okirikiri abụọ.A na-etinye voltaji ntinye n'ime okirikiri nke abụọ nke abụọ 10 (gosipụtara dị ka ntụpọ uhie) yana oge dị jụụ 15 sekọnd n'etiti okirikiri nke ọ bụla.The SMA waya eji maka nnwale bụ a 0.51 mm dayameta Flexinol waya si Dynalloy, Inc. (a) Eserese na-egosi nnwale ike enwetara n'elu abụọ cycles, (c, d) na-egosi abụọ onwe ihe atụ nke omume nke na-akpụ akpụ ogwe aka actuators on a PACEline CFT / 5kN piezoelectric transducer ike transducer, (b) eserese na-egosi dum waya okpomọkụ , (b) na eserese na-egosi na kacha elu waya okpomọkụ, (b) The eserese na-egosi na kacha okpomọkụ nke waya n'oge okpomọkụ. waya SMA na-eji FLIR ResearchIR software LWIR igwefoto.A na-enye paramita geometric nke etinyere na nyocha na tebụl.otu.
A na-atụnyere nsonaazụ ịme anwansị nke ụdị mgbakọ na mwepụ na nsonaazụ nnwale n'okpuru ọnọdụ nke ntinye ntinye nke 7V, dị ka egosiri na Fig.5.Dị ka nsonaazụ nke nyocha parametric na iji zere ohere nke ikpo ọkụ nke waya SMA, a na-enye ike nke 11.2 W na actuator.A na-eji ọkụ ọkụ DC nwere mmemme mee ihe iji nye 7V dị ka voltaji ntinye, na 1.6A ugbu a ka a tụrụ n'ofe waya.Ike nke mbanye na ọnọdụ okpomọkụ nke SDR na-abawanye mgbe etinyere ugbu a.Site na ntinye voltaji nke 7V, ike mmepụta kachasị nke enwetara site na nsonaazụ simulation na nsonaazụ nnwale nke okirikiri nke mbụ bụ 78 N na 96 N, n'otu n'otu.N'ime okirikiri nke abụọ, ike mmepụta kachasị nke simulation na nsonaazụ nnwale bụ 150 N na 105 N, n'otu n'otu.Ọdịiche dị n'etiti nha ike occlusion na data nnwale nwere ike ịbụ n'ihi usoro ejiri tụọ ike oghere.Nsonaazụ nnwale egosiri na fig.5a kwekọrọ na nleba nke ike mkpọchi, nke n'aka nke a tụrụ ya mgbe draịvụ mbanye nọ na kọntaktị PACEline CFT/5kN piezoelectric transducer, dị ka egosiri na fig.2s.Ya mere, mgbe mbanye mbanye na-adịghị na kọntaktị na ike ihe mmetụta na mmalite nke jụrụ mpaghara, ike ozugbo na-aghọ efu efu, dị ka e gosiri na Fig. 2d.Na mgbakwunye, paramita ndị ọzọ na-emetụta nguzobe nke ike na okirikiri ndị na-esote bụ ụkpụrụ nke oge jụrụ oyi na ọnụọgụ nke nnyefe ọkụ convective na okirikiri gara aga.Site na fig.2b, enwere ike ịhụ na mgbe oge oyi nke 15 nke abụọ gasịrị, waya SMA eruteghị ụlọ okpomọkụ ya mere ọ nwere okpomọkụ mmalite dị elu (\ (40 \, ^ {\circ } hbox {C} \)) na nke abụọ na-akwọ ụgbọ ala ma e jiri ya tụnyere nke mbụ okirikiri (\(25 \, ^{\circ} hbox {C}\)).Ya mere, e jiri ya tụnyere nke mbụ okirikiri, okpomọkụ nke SMA waya n'oge nke abụọ kpo oku okirikiri iru mbụ austenite okpomọkụ (\ (A_s \)) na mbụ na-anọ na mgbanwe oge ogologo, na-akpata nrụgide na ike.N'aka nke ọzọ, okpomọkụ nkesa n'oge okpomọkụ na oyi cycles nwetara site na nnwale na simulations nwere nnukwu qualitative myirịta na ihe atụ si thermographic analysis.Ntụle ntụle nke data thermal waya SMA sitere na nnwale na simulations gosiri nkwekọ n'oge usoro ikpo ọkụ na oyi na n'ime nnabata nnabata maka data nnwale.Oke okpomọkụ nke waya SMA, nke enwetara site na nsonaazụ nke ịme anwansị na nnwale nke okirikiri nke mbụ, bụ \ (89 \, ^ {\circ } hbox {C} \) na \ (75 \, ^ {\circ } \ hbox { C } \ , n'otu n'otu ), na nke abụọ okirikiri kacha okpomọkụ nke SMA waya bụ \ (94 \ , ^ {\circ } \ hbox , n'otu n'otu ), na nke abụọ okirikiri kacha okpomọkụ nke SMA waya bụ \ (94 \ , ^ ^ h . Hbox {C}).Ụdị emepụtara nke ọma na-akwado mmetụta nke mmetụta ebe nchekwa ọdịdị ahụ.A naghị atụle ọrụ ike ọgwụgwụ na ikpo ọkụ na nyocha a.N'ọdịnihu, a ga-emeziwanye ihe nlereanya ahụ iji tinye akụkọ nhụjuanya nke waya SMA, na-eme ka ọ dịkwuo mma maka ngwa injinia.The mbanye mmepụta ike na SMA okpomọkụ plots enwetara site na Simulink ngọngọ bụ n'ime ekwe ohere nke nnwale data n'okpuru ọnọdụ nke ihe ntinye voltaji pulse nke 7 V. Nke a na-akwado na ziri ezi na ntụkwasị obi nke mepụtara mgbakọ na mwepụ nlereanya.
Emepụtara ihe nlere mgbakọ na mwepụ na gburugburu MathWorks Simulink R2020b site na iji nha nha nke akọwara na ngalaba Ụzọ.Na fig.3b na-egosi eserese ngọngọ nke ụdị mgbakọ na mwepụ Simulink.Emere ihe nlere anya maka ihe ntinye voltaji 7V dika egosiri na Fig. 2a, b.A na-edepụta ụkpụrụ nke paramita ndị a na-eji na simulation na Tebụl 1. E gosipụtara nsonaazụ nke ịme anwansị nke usoro oge na-agafe agafe na 1 na 1. Ọnụ ọgụgụ 3a na 4. Na fig.4a,b na-egosi voltaji na-ebute na waya SMA na ike nke onye na-eme ihe na-eme ka ọ bụrụ ọrụ oge. N'oge mgbanwe mgbanwe (okpomọkụ), mgbe SMA waya okpomọkụ, \ (T <A_s^{\prime}\) (nrụgide-gbanwetụrụ austenite agba mmalite okpomọkụ), ọnụego nke mgbanwe nke martensite olu irighiri (\(\ ntụpọ{\xi}\)) ga-efu. N'oge mgbanwe mgbanwe (okpomọkụ), mgbe SMA waya okpomọkụ, \ (T <A_s^{\prime}\) (nrụgide-gbanwetụrụ austenite agba mmalite okpomọkụ), ọnụego nke mgbanwe nke martensite olu irighiri (\(\ ntụpọ{\ xi}\)) ga-efu. Во время обратного превращения (нагрева), когда температура проволоки SMA, \ (T < A_s ^ {\prime} \) цированная напряжением), скорость изменения объемной доли мартенсита (\(\dot{\ xi}\)) будет равно нулю. N'oge mgbanwe mgbanwe (okpomọkụ), mgbe okpomọkụ nke waya SMA, \ (T <A_s^{\prime}\) (nrụgide-gbanwetụrụ austenite mmalite okpomọkụ), ọnụego mgbanwe nke martensite olu akụkụ (\(\ ntụpọ{\ xi})) ga-abụ efu..体积分数的变化率（\(\dot{\ xi }\)) 将为零。在 反向 转变 （加热） 中 ， 当 当 当 线 温度 \ (t) При обратном превращении (нагреве) при температуре проволоки СПФ \(T < A_s^{\prime}) й на напряжение) будет равно нулю. N'oge mgbanwe mgbanwe (okpomọkụ) na okpomọkụ nke SMA waya \ (T <A_s^{\prime}\) (okpomọkụ nke nucleation nke austenite na-adọ, na-agbaziri maka nrụgide), ọnụego mgbanwe na olu nkebi nke martensite (\ ( \ ntụpọ {\ xi} \)) ga-abụ nha efu.Ya mere, ọnụego mgbanwe nrụgide (\(\ntụpọ{\sigma}\))) ga-adabere n'ụdị nsogbu (\(\dot{\epsilon}\)) na gradient okpomọkụ (\(\ntụpọ {T} \) ) naanị site na iji akara (1).Otú ọ dị, ka waya SMA na-abawanye na okpomọkụ ma na-agafe (\(A_s^{\prime}\)), usoro austenite na-amalite ịmalite, na (\(\ dot{\xi} \)) na-ewere dị ka uru e nyere nke nhata (3).Ya mere, ọnụ ọgụgụ nke mgbanwe voltaji (\(\ntụpọ{\sigma}\)) na-ejikọta ọnụ na-achịkwa \(\ntụpọ{\epsilon}, \ ntụpọ{T} \) na \ (\ ntụpọ{\xi} \) na-nha nyere na usoro (1).Nke a na-akọwa mgbanwe gradient a na-ahụ na nrụgide oge na-agbanwe agbanwe na maapụ ike n'oge usoro ikpo ọkụ, dị ka egosiri na Fig. 4a, b.
(a) Nsonaazụ ịme anwansị na-egosi nkesa okpomoku na nrụgide nrụgide na-akpata n'ime ihe nrụpụta divalerate dabere na SMA.Mgbe waya okpomọkụ gafere austenite mgbanwe okpomọkụ na kpo oku ogbo, gbanwetụrụ austenite mgbanwe okpomọkụ na-amalite na-abawanye, na n'otu aka ahụ, mgbe waya mkpara okpomọkụ na-agafe martensitic mgbanwe okpomọkụ na jụrụ ogbo, martensitic mgbanwe okpomọkụ mbelata.SMA maka nhazi nyocha nke usoro mmeghari.(Maka nleba anya zuru oke nke sistemu nke ọ bụla nke ụdị Simulink, lee akụkụ mgbakwunye nke faịlụ mgbakwunye.)
E gosipụtara nsonaazụ nke nyocha maka nkesa oke dị iche iche maka okirikiri abụọ nke voltaji ntinye 7V (10 sekọnd na-ekpo ọkụ na 15 sekọnd jụụ okirikiri).Mgbe (ac) na (e) na-egosipụta nkesa ka oge na-aga, n'aka nke ọzọ, (d) na (f) gosi nkesa na okpomọkụ.Maka ọnọdụ ntinye dị iche iche, nrụgide a na-ahụ anya bụ 106 MPa (ihe na-erughị 345 MPa, ike na-emepụta waya), ike bụ 150 N, nkwụsị kachasị bụ 270 µm, na obere akụkụ nke martensitic bụ 0.91.N'aka nke ọzọ, mgbanwe nke nrụgide na mgbanwe nke ụda olu nke martensite na okpomọkụ yiri àgwà hysteresis.
Otu nkọwa ahụ na-emetụta mgbanwe kpọmkwem (ịjụ oyi) site na austenite na-aga na oge martensite, ebe okpomọkụ SMA waya (T) na njedebe njedebe nke nrụgide-gbanwetụrụ martensite (\(M_f^{\prime}\ )) dị mma.Na fig.4d, f na-egosi mgbanwe na nrụgide na-akpata (\ (\ sigma \)) na akụkụ olu nke martensite (\ (\ xi \)) na waya SMA dị ka ọrụ nke mgbanwe okpomọkụ nke SMA waya (T), maka abụọ ịkwọ ụgbọala cycles.Na fig.Ọgụgụ 3a na-egosi mgbanwe na okpomọkụ nke waya SMA na oge dabere na ntinye voltaji pulse.Dị ka a pụrụ ịhụ site na ọnụ ọgụgụ ahụ, okpomọkụ nke waya na-aga n'ihu na-abawanye site n'inye isi iyi ọkụ na voltaji efu na oyi na-esote convective.N'oge okpomọkụ, mgbanwe nke martensite na austenite na-amalite mgbe SMA waya okpomọkụ (T) gafere nrụgide-mezie austenite nucleation okpomọkụ (\(A_s^{\prime}\)).N'oge usoro a, a na-agbanye waya SMA na onye na-eme ihe na-emepụta ike.Nakwa n'oge jụrụ oyi, mgbe okpomọkụ nke SMA waya (T) na-agafe nucleation okpomọkụ nke nrụgide-gbanwetụrụ martensite phase (\ (M_s ^ {\prime} \)) enwere mgbanwe dị mma site na austenite na-aga na oge martensite.ike mbanye na-ebelata.
Enwere ike nweta akụkụ dị mkpa nke draịva bimodal dabere na SMA site na nsonaazụ simulation.N'ihe banyere ntinye pulse voltaji, okpomọkụ nke waya SMA na-abawanye n'ihi mmetụta kpo oku Joule.A na-edozi uru mbụ nke akụkụ nke martensite (\(\xi \)) ka ọ bụrụ 1, ebe ọ bụ na ihe ahụ dị na mbụ na nhazi nke ọma.Ka waya na-aga n'ihu na-ekpo ọkụ, okpomọkụ nke waya SMA na-agafe nrụgide austenite nucleation okpomọkụ \ (A_s^{\prime} \), nke na-ebute mbelata nke akụkụ nke martensite, dị ka egosiri na Figure 4c.Na mgbakwunye, na fig.4e na-egosi nkesa ọrịa strok nke actuator na oge, na fig.5 - ike ịnya ụgbọ ala dịka ọrụ nke oge.Usoro nha anya metụtara ya gụnyere okpomọkụ, akụkụ nke martensite, na nrụgide na-etolite na waya, na-ebute mbelata nke waya SMA na ike nke onye na-eme ihe na-emepụta.Dị ka e gosiri na fig.4d,f, voltaji mgbanwe na okpomọkụ na martensite olu dị iche iche na okpomọkụ kwekọrọ na hysteresis àgwà nke SMA na simulated ikpe na 7 V.
Enwetara ntụnyere parampat ịkwọ ụgbọala site na nnwale na ngụkọ nyocha.A na-edobere wires ndị ahụ na voltaji ntinye pulsed nke 7 V maka sekọnd 10, wee mee ka ọ dị jụụ maka 15 sekọnd (oge oyi) n'elu okirikiri abụọ.A na-edozi akụkụ pinnate ka \(40^{\circ}\) na ogologo mbụ nke waya SMA n'otu ụkwụ ntụtụ ọ bụla ka atọrọ ka 83mm.(a) Iji igwe ibu were tụọ ike ịnya ụgbọ ala (b) Iji igwefoto infrared na-ekpo ọkụ na-enyocha okpomọkụ waya.
Iji ghọta mmetụta nke paramita anụ ahụ na ike nke ụgbọala ahụ na-emepụta, a na-eme nyocha nke uche nke ihe mgbakọ na mwepụ na mpaghara anụ ahụ ahọpụtara, a na-ahọpụtakwa paramita dịka mmetụta ha si dị.Nke mbụ, a na-eji ụkpụrụ nrụpụta nnwale na-esochi nkesa otu (lee ngalaba mgbakwunye na nyocha ihe mmetụta).N'okwu a, paramita ihe atụ na-agụnye voltaji ntinye (\(V_{in}\)), ogologo waya SMA nke mbụ (\(l_0 \)), akụkụ triangle (\(\ alpha \)), bias spring constant (\( K_x \ )), convective heat transfer coefficient (\(h_T \))) na ọnụ ọgụgụ nke unimodal alaka (n).N'ọzọ na-esote, a họọrọ ike akwara dị elu dị ka ihe ọmụmụ ihe achọrọ yana nsonaazụ parametric nke usoro mgbanwe ọ bụla na ike nwetara.A na-enweta atụmatụ nke oké ifufe ahụ maka nyocha nke uche site na ọnụọgụ njikọ maka oke ọ bụla, dị ka egosiri na Fig. 6a.
(a) A na-egosipụta ụkpụrụ ọnụọgụ ọnụ nke paramita ihe atụ na mmetụta ha na ike mmepụta kachasị nke otu 2500 pụrụ iche nke ihe atụ ndị dị n'elu ka egosiri na nkata ifufe ahụ.Eserese ahụ na-egosi njikọ ọkwa nke ọtụtụ ihe ngosi.O doro anya na \(V_{in}\) bụ naanị paramita nwere njikọ dị mma, na \(l_0\) bụ oke nwere njikọ na-adịghị mma.A na-egosipụta mmetụta nke parampat dị iche iche na nchikota dị iche iche na ike akwara dị elu na (b, c).\(K_x\) sitere na 400 ruo 800 N/m na n nso site na 4 ruo 24. Voltage (\(V_{in} \)) gbanwere site na 4V gaa na 10V, ogologo waya (\(l_{0 } \)) gbanwere site na 40 ruo 100 mm, na akụkụ ọdụ ọdụ (\) ( \ 0 - varied ^ 6 ) ).
Na fig.6a na-egosi atụmatụ oke ifufe nke ọnụọgụ mmekọrịta dị iche iche maka oke ọ bụla nwere ihe achọrọ imepụta ike draịva kacha elu.Site na fig.6a nwere ike ịhụ na voltaji oke (\ (V_{na} \)) bụ kpọmkwem metụtara kacha mmepụta ike, na convective okpomọkụ nyefe ọnụọgụ (\ (h_T \)), ire ọkụ n'akuku (\ ( \ alpha \)) , displacement spring mgbe niile ( \ (K_x \))) na-ezighị ezi correlated na mmepụta ike na nke mbụ ogologo (\) na-egosi na ọnụ ọgụgụ nke S (\) nimo (l_0) u. Nkwekọrịta nke amaokwu N'ihe gbasara njikọ aka kpọmkwem N'ihe banyere uru dị elu nke ọnụọgụ ọnụọgụ voltaji (\(V_ {in}\)) na-egosi na oke a nwere mmetụta kachasị na mmepụta ike.Ntụle ọzọ yiri nke a na-atụle ike kachasị elu site n'ịtụle mmetụta nke dị iche iche dị iche iche na nchịkọta dị iche iche nke oghere mgbakọ abụọ ahụ, dị ka e gosiri na Fig. 6b, c.\(V_{in} \) na \ (l_0 \), \ (\ alpha \) na \ (l_0 \) nwere ụkpụrụ yiri nke ahụ, na eserese na-egosi na \ (V_{in} \) na \ (\ alpha \ ) na \ (\ alpha \) nwere yiri ụkpụrụ.Obere ụkpụrụ nke \(l_0\) na-ebute ike kacha elu.Atụmatụ abụọ ndị ọzọ dabara na eserese 6a, ebe n na \ (K_x\) na-emekọ ihe na-adịghị mma yana \(V_{in}\) jikọtara nke ọma.Nyocha a na-enyere aka ịkọwa na gbanwee ihe ndị na-emetụta mmetụta nke mmepụta ike, ọrịa strok na arụmọrụ nke usoro mbanye nwere ike ime ka ihe achọrọ na ngwa.
Ọrụ nyocha dị ugbu a na-ewebata ma na-enyocha draịva hierarchical na ọkwa N.N'ọkwa ọkwa abụọ, dị ka egosiri na Fig. 7a, ebe kama ọ bụla waya SMA nke onye na-arụ ọrụ ọkwa mbụ, a na-enweta nhazi bimodal, dị ka egosiri na fig.9e.Na fig.7c na-egosi otú e si emerụ waya SMA gburugburu ogwe aka na-ebugharị (ogwe aka inyeaka) nke na-aga n'ihu n'ogologo.Agbanyeghị, ogwe aka mbughari na-aga n'ihu n'otu aka ahụ ka ogwe aka mbugharị nke 1st ogbo multi-stage actuator.Dị ka ọ na-adịkarị, a na-emepụta draịva N-stage site na iji mbanye ọkwa nke mbụ dochie waya (N-1\) ogbo SMA.N'ihi ya, alaka ọ bụla na-eṅomi nke mbụ ogbo mbanye, ma e wezụga alaka nke na-ejide waya n'onwe ya.N'ụzọ dị otú a, e nwere ike ịmepụta ụlọ akwụ́ ndị na-emepụta ike ndị dị ọtụtụ ugboro karịa ike nke draịva mbụ.N'ime ọmụmụ ihe a, maka ọkwa ọ bụla, a na-eburu n'uche ogologo waya SMA dị irè nke 1 m, dị ka e gosiri na usoro tabular na Fig. 7d.Ihe dị ugbu a site na waya ọ bụla na nhazi unimodal ọ bụla na prestress na voltaji na mpaghara waya SMA ọ bụla bụ otu na ọkwa ọ bụla.Dị ka usoro nyocha anyị si dị, ike mmepụta na-ejikọta nke ọma na ọkwa ahụ, ebe nchụpụ ahụ na-ejikọta ya na-adịghị mma.N'otu oge ahụ, enwere mgbanwe n'etiti mgbanwe na ike anụ ahụ.Dị ka a hụrụ na fig.7b, ebe a na-enweta ike kachasị elu na ọnụ ọgụgụ kachasị elu nke ọkwa, a na-ahụ nchụpụ kachasị na oyi akwa kacha ala.Mgbe edobere ọkwa ọkwa na \(N=5\), ahụrụ ike akwara kacha elu nke 2.58 kN nwere strok 2 hụrụ \(\upmu\)m.N'aka nke ọzọ, draịva nke mbụ na-emepụta ike nke 150 N na strok nke 277 \ (\upmu \) m.Multi-larịị actuators na-enwe ike iṅomi n'ezie dị ndụ mọzụlụ, ebe wuru akwara dabere na udi ebe nchekwa alloys na-enwe ike n'ịwa budata elu agha na kpọmkwem na mma mmegharị.Mgbochi nke imewe a pere mpe bụ na ka ndị isi na-abawanye, mmegharị ahụ na-ebelata nke ukwuu yana mgbagwoju anya nke usoro nrụpụta draịva na-abawanye.
(a) A na-egosi sistemu ihe eji eme ihe n'ụdị nke nwere ọkwa abụọ (\(N=2\)) na nhazi bimodal.A na-enweta ihe nlereanya a tụrụ anya site na dochie waya SMA na ọkwa nke mbụ na-eme ihe na-eme ihe na-eme ka ọ bụrụ ihe ọzọ na-eme ka ọ dị otu ọkwa.(c) Nhazi nke nrụrụ arụ ọrụ nke abụọ nke multilayer actuator.(b) A kọwara nkesa nke ndị agha na nchụpụ dabere na ọnụọgụ ọkwa.Achọpụtara na ike kachasị elu nke onye na-eme ihe na-ejikọta ya na ọkwa ọkwa dị na eserese, ebe ọrịa strok na-ejikọta ya na ọkwa ọkwa.Ihe dị ugbu a na tupu voltaji na waya ọ bụla na-anọgide na-adịgide adịgide na ọkwa niile.(d) Tebụl na-egosi ọnụọgụ ọnụọgụ na ogologo waya SMA (fiber) na ọkwa ọ bụla.A na-egosi njirimara nke wires site na index 1, na ọnụ ọgụgụ nke ngalaba nke abụọ (nke ejikọrọ na ụkwụ mbụ) na-egosi na ọnụ ọgụgụ kasị ukwuu na ndenye aha.Dịka ọmụmaatụ, na ọkwa 5, \ (n_1 \) na-ezo aka na ọnụọgụ SMA wires dị na nhazi bimodal ọ bụla, na \(n_5 \) na-ezo aka na ọnụ ọgụgụ nke ụkwụ inyeaka (nke ejikọrọ na isi ụkwụ).
Ọtụtụ ndị nchọpụta atụpụtawo ụzọ dị iche iche iji gosipụta omume nke SMA nwere ebe nchekwa ọdịdị, nke dabere na akụrụngwa thermomechanical na-esonye na mgbanwe macroscopic na nhazi kristal jikọtara ya na mgbanwe oge.Nhazi nke usoro ihe mejupụtara bụ ihe siri ike.Ụdị phenomenological nke a na-ejikarị eme ihe bụ Tanaka28 tụpụtara ya ma jiri ya mee ihe na ngwa injinịa.Ụdị phenomenological nke Tanaka [28] tụpụtara na-eche na mbelata olu nke martensite bụ ọrụ pụtara ìhè nke okpomọkụ na nrụgide.Mgbe e mesịrị, Liang na Rogers29 na Brinson30 tụpụtara ihe atụ nke a na-eche na mgbanwe mgbanwe nke usoro ahụ bụ ọrụ cosine nke voltaji na okpomọkụ, na-enwe ntakịrị mgbanwe na ihe nlereanya ahụ.Becker na Brinson tụpụtara usoro eserese nke usoro ihe nlere anya kanetic iji ṅomie omume nke ihe SMA n'okpuru ọnọdụ nbudata aka ike yana ntụgharị akụkụ.Banerjee32 na-eji usoro ihe osise Bekker na Brinson31 usoro eserese iji mee ka otu ogo nke onye na-emegharị nnwere onwe nke Elahinia na Ahmadian33 mepụtara.Ụzọ kinetic dabere na eserese oge, nke na-eburu n'uche mgbanwe na-abụghị monotononic na voltaji na okpomọkụ, siri ike itinye na ngwa injinia.Elakhinia na Ahmadian dọtara uche gaa na adịghị ike ndị a nke ụdị phenomenological dị ugbu a wee tụpụta ihe atụ phenomenological agbatịkwuru iji nyochaa na kọwaa àgwà ebe nchekwa n'okpuru ọnọdụ ọ bụla dị mgbagwoju anya.
Ụdị nhazi nke waya SMA na-enye nrụgide (\ (\ sigma \)), nsogbu (\ (\epsilon \)), okpomọkụ (T), na martensite volume fraction (\ (\ xi \))) nke SMA waya.Nke mbụ Tanaka28 tụpụtara ihe atụ phenomenological mejuputara wee bụrụ nke Liang29 na Brinson30 nakweere.Mwepụta nke nhatanha nwere ụdị:
Ebe E bụ usoro dabere SMA Young's modulus nwetara site na \ (\ displaystyle E = \ xi E_M + (1-\xi ) E_A \) na \ (E_A \) na \ (E_M \) na-anọchi anya Young's modulus bụ austenitic na martensitic n'usoro, karị, na ọnụọgụgụ nke thermal mgbasa na-anọchi anya \ (\ T).Ihe ntinye ngbanwe nke usoro bụ \ (\Omega = -E \ epsilon _L \) na \ (\epsilon _L \) bụ ụdị mgbake kachasị na waya SMA.
Usoro mgbanwe nke usoro a dabara na ọrụ cosine nke Liang29 mepụtara wee bụrụ nke Brinson30 nakweere kama ọrụ nkọwa nke Tanaka28 tụpụtara.Ụdị ngbanwe nke oge bụ ndọtị nke ụdị nke Elakhinia na Ahmadian34 tụpụtara wee gbanwee dabere na ọnọdụ mgbanwe nke akụkụ nke Liang29 na Brinson30 nyere.Ọnọdụ ndị a na-eji maka ụdị mgbanwe oge a na-arụ ọrụ n'okpuru ibu temomeka dị mgbagwoju anya.N'oge ọ bụla nke oge, a na-agbakọ uru nke akụkụ olu nke martensite mgbe ị na-emepụta nhazi nhazi.
Nhazi mgbanwe mgbanwe na-achị achị, gosipụtara site na mgbanwe nke martensite na austenite n'okpuru ọnọdụ kpo oku, bụ nke a:
ebe \ (\ xi \) bụ akụkụ olu nke martensite, \ (\ xi _M \) bụ nkebi nke martensite enwetara tupu kpo oku, \ (\ displaystyle a_A = \ pi / (A_f - A_s) \), \ ( \ ngosi b_A = -a_A / C_A \) na \ (\ xi _M \) na \ (\ xi _M \) - (\n'ikuku a_A = \ pi / (A_f - A_s) \), \ ( \ displaystyle b_A = -a_A / C_A \) na \ (\ xi _M \) na \ (C_A \) m ( \ A_C_A \) na \ (C_A \) m usoro T_ (C_A \) - curve app, xi s. f \) - mmalite na njedebe nke usoro austenite, n'otu n'otu, okpomọkụ.
Usoro njikwa mgbanwe ozugbo, nke ngbanwe nke austenite na martensite nọchiri anya ọnọdụ jụrụ oyi, bụ:
ebe \ (\xi _A \) bụ nkebi nke martensite enwetara tupu jụrụ, \ (\ displaystyle a_M = \ pi / (M_s – M_f) \), \ (\ ngosi b_M = -a_M/C_M \) na \ ( C_M \) - curve dabara adabara parameters, T - SMA SMA okpomọkụ, nke ikpeazụ, \ (M_s - M_f) ma ọ bụ (M_s - M_s) ma ọ bụ okpomọkụ.
Mgbe ekewasịchara nhata (3) na (4), nha nha mgbanwe mgbanwe na ntụgharị na-adị mfe n'ụdị a:
N'oge mgbanwe ihu na azụ \(\eta _{\sigma}\) na \(\eta _{T}\) na-ewere ụkpụrụ dị iche iche.Ewepụtala nha nhata ndị bụ isi jikọtara ya na \(\eta _{\sigma}\) na \(\eta _{T}\) wee tụle ya n'uju n'ime akụkụ ọzọ.
Ike ọkụ ọkụ chọrọ iji bulie okpomọkụ nke waya SMA sitere na mmetụta kpo oku Joule.Ike thermal etinyere ma ọ bụ wepụta ya site na waya SMA na-anọchi anya okpomọkụ mgbanaka nke mgbanwe.Ọnwụ ọkụ na waya SMA bụ n'ihi convection mmanye, ma nye mmetụta na-adịghị mma nke radieshon, nguzozi ike okpomọkụ bụ nke a:
Ebe \ (m_{waya} \) bụ ngụkọta ọnụ ọgụgụ nke SMA waya, \ (c_{p}\) bụ kpọmkwem okpomọkụ ike nke SMA, \ (V_{in}\) bụ voltaji etinyere na waya, \ (R_{ohm} \ ) - na-adọ-adabere na-eguzogide SMA, kọwara dị ka;\(R_{ohm} = (l/A_{cross})[\xi r_M + (1-\xi )r_A]\ ) ebe \(r_M \ ) na \(r_A \) bụ SMA frasi resistivity na martensite na austenite, n'otu n'otu, \ (A_{c}\) bụ n'elu ebe nke SMA a waya udi.The latent okpomọkụ nke mgbanwe nke waya, T na \(T_{\ infty}\) bụ okpomọkụ nke SMA waya na gburugburu ebe obibi, n'otu n'otu.
Mgbe a na-emegharị waya alloy ebe nchekwa ihe, waya ahụ na-akpakọ, na-emepụta ike n'alaka ọ bụla nke imewe bimodal akpọrọ fiber force.Ndị agha nke eriri na eriri ọ bụla nke eriri SMA ọnụ na-emepụta ike anụ ahụ iji mee ihe, dị ka egosiri na Fig. 9e.N'ihi ọnụnọ nke mmiri na-adịghị mma, mkpokọta akwara nke Nth multilayer actuator bụ:
Dochie \(N = 1\) n'ime nhata (7), enwere ike nweta ike akwara nke prototype bimodal drive nke mbụ dị ka ndị a:
ebe n bụ ọnụọgụ unimodal ụkwụ, \ (F_m \) bụ ike anụ ahụ na-emepụta site na mbanye, \ (F_f \) bụ ike eriri na waya SMA, \ (K_x \) bụ isi ike.mmiri, \ (\ alpha \) bụ akụkụ nke triangle, \ (x_0 \) bụ nkwụsị mbụ nke mmiri na-adịghị mma iji jide eriri SMA n'ọnọdụ a na-atụghị anya ya, na \ (\Delta x \) bụ njem onye na-eme ihe.
Mkpokọta nchụpụ ma ọ bụ mmegharị nke mbanye (\ (\ Delta x)) dabere na voltaji (\ (\ sigma \)) na nje (\ (\epsilon \)) na waya SMA nke ọkwa Nth, a na-edozi ụgbọala ahụ ka (lee fig. akụkụ ọzọ nke mmepụta):
Nha nhata nke kinematic na-enye njikọ dị n'etiti nrụrụ mbanye (\(epsilon\)) na nchụpụ ma ọ bụ nchụpụ (\(Delta x\)).Nrụrụ nke Arb waya dị ka ọrụ nke mbụ Arb waya ogologo (\(l_0\)) na waya ogologo (l) n'oge ọ bụla t na otu unimodal alaka bụ ndị a:
ebe \ (l = \sqrt{l_0^2 +(\Delta x_1)^2 – 2 l_0 (\Delta x_1) \cos \ alpha _1} \) nwetara site n'itinye usoro cosine na \ (\ Delta \) ABB ', dị ka e gosiri na Figure 8. N'ihi na mbụ ogbo mbanye (\ (N = (1\) x)) bụ x (\ (N = 1 \ D)) (\ alpha _1 \) bụ \ (\ alpha \) dị ka egosiri na foto nke 8, site n'ichepụta oge site na Equation (11) na dochie uru nke l, enwere ike dee ọnụ ọgụgụ nsogbu dịka:
ebe \ (l_0 \) bụ mmalite ogologo nke SMA waya, l bụ ogologo nke waya n'oge ọ bụla t na otu unimodal alaka, \ (\ epsilon \) bụ deformation mepụtara na SMA waya, na \ (\ alpha \) bụ akụkụ nke triangle, \ (\ Delta x \) bụ mbanye akwụ ụgwọ (dị ka e gosiri na Figure 8).
All n otu-peak Ọdịdị (\(n=6\) na ọnụ ọgụgụ a) jikọtara n'usoro na \(V_{in}\) dị ka voltaji ntinye.Nkeji nke I: Eserese eserese nke waya SMA na nhazi bimodal n'okpuru ọnọdụ voltaji efu Nkeji II: A na-egosi usoro a na-achịkwa ebe a na-agbanye waya SMA n'ihi ntụgharị ntụgharị, dị ka akara uhie gosipụtara.
Dị ka ihe akaebe nke echiche, e mepụtara draịva bimodal nke dabeere na SMA iji nwalee mwepụta simulated nke nha n'okpuru yana nsonaazụ nnwale.Egosiri ihe nlereanya CAD nke bimodal linear actuator na fig.9a.N'aka nke ọzọ, na fig.9c na-egosi atụmatụ ọhụrụ akwadoro maka njikọ prismatic rotational site na iji ụgbọ elu SMA dabere na ihe eji arụ ọrụ bimodal.Emebere akụrụngwa draịva ahụ site na iji nrụpụta mgbakwunye na ngwa nbipute 3D Ultimaker 3 Extended.Ihe eji ebipụta 3D nke components bụ polycarbonate nke kwesịrị ekwesị maka ihe ndị na-eguzogide okpomọkụ dị ka ọ siri ike, na-adịgide adịgide ma nwee nnukwu mgbanwe mgbanwe iko (110-113 \ (^{\circ}) C).Tụkwasị na nke ahụ, a na-eji Dynalloy, Inc. Flexinol shape memory alloy waya mee ihe na nnwale, na ihe onwunwe nke kwekọrọ na Flexinol waya na-eji na simulations.A na-ahazi ọtụtụ wires SMA dị ka eriri dị na nhazi bimodal nke akwara iji nweta ike dị elu nke ndị na-eme ihe multilayer na-emepụta, dị ka egosiri na Fig. 9b, d.
Dị ka e gosiri na foto 9a, nnukwu akụkụ kpụrụ site na mbugharị ogwe aka SMA waya angle (\(\ alpha \)).N'iji njide ọnụ agbakwunyere na aka ekpe na aka nri, a na-ejide waya SMA n'akụkụ akụkụ bimodal achọrọ.Emebere ngwaọrụ mmiri bias nke ejidere na njikọ mmiri iji mezie otu ụdị ndọtị mmiri dị iche iche dịka ọnụọgụ (n) nke eriri SMA siri dị.Tụkwasị na nke ahụ, a na-emepụta ebe nke akụkụ ndị na-agagharị agagharị ka e wee kpughee waya SMA na gburugburu ebe obibi maka mmanye convection jụrụ oyi.Efere elu na ala nke mgbakọ a na-apụ apụ na-enyere aka mee ka waya SMA dị jụụ na ihe ndị e gwupụtara agbapụta emebere iji belata ibu.Na mgbakwunye, a na-edozi nsọtụ abụọ nke waya CMA n'akụkụ aka ekpe na aka nri, n'otu n'otu, site na crimp.A na-ejikọta ihe nkwụnye ọkụ n'otu nsọtụ nke mgbakọ a na-ebugharị ebugharị iji kwado nkwụsị n'etiti efere elu na ala.A na-ejikwa plunger tinye ike mgbochi na ihe mmetụta site na kọntaktị iji tụọ ike mgbochi mgbe ejiri waya SMA rụọ ọrụ.
A na-ejikọta usoro akwara bimodal SMA na ọkụ eletrik n'usoro ma na-akwado ya site na ntinye voltaji pulse.N'oge mgbanaka pulse okirikiri, mgbe a na-etinye voltaji na waya SMA na-ekpo ọkụ n'elu okpomọkụ mbụ nke austenite, ogologo waya na eriri ọ bụla na-ebelata.Mweghachi a na-eme ka akụkụ nke ogwe aka mbughari rụọ ọrụ.Mgbe voltaji na zeroed n'otu okirikiri ahụ, a na-eme ka waya SMA dị ọkụ dị jụụ n'okpuru okpomọkụ nke elu martensite, si otú ahụ laghachi n'ọnọdụ mbụ ya.N'okpuru ọnọdụ nrụgide efu, a na-ebu ụzọ gbatịa waya SMA nke ọma site na mmiri na-adịghị mma ka ọ rute na steeti martensitic.Ihe nkedo, site na nke waya SMA na-agafe, na-agagharị n'ihi mkpakọ nke e kere site n'itinye ụda voltaji na waya SMA (SPA rutere n'oge austenite), nke na-eduga n'ịmepụta nkedo na-ebugharị.Mgbe e wepụrụ waya SMA, mmiri na-adịghị mma na-emepụta ike megidere site n'ịgbatịkwu mmiri.Mgbe nrụgide dị na voltaji mkpali na-aghọ efu, waya SMA na-agbatị ma gbanwee ọdịdị ya n'ihi mmanye convection mmanye, na-erute okpukpu abụọ martensitic.
Sistemụ actuator linear dabere na SMA a tụrụ aro nwere nhazi bimodal nke ejiri eriri SMA kpuchie ya.(a) na-egosi ihe atụ CAD nke prototype, nke na-ekwu maka ụfọdụ akụkụ na ihe ha pụtara maka prototype, (b, d) na-anọchi anya prototype35 emepụtara.Mgbe (b) na-egosi nleba anya n'elu nke prototype nwere njikọ eletriki na isi iyi na-adịghị mma na ihe nhụsianya ejiri, (d) na-egosi nlele anya nke nhazi ahụ.(e) Eserese nke usoro ihe eji eme ihe na eriri SMA etinyere bimodally n'oge ọ bụla t, na-egosi ntụzịaka na usoro nke eriri na ike akwara.(c) Atụpụtala njikọ prismatic rotational 2-DOF maka ibuga onye na-arụ ọrụ ụgbọ elu abụọ nke SMA.Dị ka egosiri, njikọ ahụ na-ebufe mmegharị ahịrị site na mbanye ala ruo na ogwe aka elu, na-emepụta njikọ ntụgharị.N'aka nke ọzọ, mmegharị nke ụzọ prisms bụ otu ihe ahụ na mmegharị nke multilayer first stage drive.
Emere ihe omumu ihe omumu na prototype egosiri na Fig. 9b iji nyochaa oru ngo nke bimodal mbanye dabere na SMA.Dịka e gosiri na eserese 10a, nhazi nnwale ahụ nwere ọkụ ọkụ DC nwere mmemme iji nye voltaji ntinye na waya SMA.Dị ka e gosiri na fig.10b, a na-eji ihe nlele piezoelectric (PACEline CFT/5kN) tụọ ike mgbochi site na iji data data Graphtec GL-2000.Ndị ọbịa na-edekọ data ahụ maka ọmụmụ ihe ọzọ.Ihe nleba anya na chaja amplifiers chọrọ ọkụ ọkụ mgbe niile iji mepụta mgbama voltaji.A na-agbanwe akara ngosi kwekọrọ na ntinye ike dị ka uche nke piezoelectric force sensọ na ihe ndị ọzọ dị ka akọwapụtara na Tebụl 2. Mgbe a na-etinye ụda voltaji, okpomọkụ nke waya SMA na-abawanye, na-eme ka waya SMA na-agbakọ, nke na-eme ka onye na-eme ihe na-emepụta ike.Nsonaazụ nnwale nke mmepụta ike akwara site na ntinye voltaji nke 7 V ka egosiri na fig.2a.
(a) E hibere usoro ihe eji eme ihe n'ahịrị nke dabere na SMA na nnwale ahụ iji tụọ ike nke onye na-eme ihe na-emepụta.Mkpụrụ ndụ ibu ahụ na-atụ ike mgbochi ma na-enye ya ọkụ 24V DC.A na-etinye mgbada voltaji 7 V n'ogologo ogologo eriri ahụ site na iji ọkụ ọkụ GW Instek nwere ike ime DC.Waya SMA na-ebelata n'ihi okpomọkụ, na ogwe aka na-ebugharị na-akpọtụrụ cell load cell ma na-arụ ọrụ mgbochi.Ejikọrọ cell load cell na GL-2000 data logger na-echekwa data na onye ọbịa maka nhazi ọzọ.(b) Eserese na-egosi agbụ nke akụrụngwa nke nhazi nnwale maka ịtụ ike akwara.
Alloys ebe nchekwa na-enwe obi ụtọ site na ike ọkụ, ya mere okpomọkụ na-aghọ ihe dị mkpa maka ịmụ ihe ncheta ọdịdị ọdịdị ahụ.Nnwale, dị ka egosiri na Fig. 11a, a na-eme ihe ngosi okpomọkụ na nha okpomọkụ na ihe ngosi SMA nke dabeere na divalerate actuator.Isi iyi DC nwere ike ime tinye voltaji ntinye aka na wires SMA na nhazi nnwale, dịka egosiri na eserese 11b.A tụrụ mgbanwe okpomọkụ nke waya SMA ozugbo site na iji igwefoto LWIR dị elu (FLIR A655sc).Onye ọbịa ahụ na-eji sọftụwia ResearchIR iji dekọọ data maka nhazigharị ọzọ.Mgbe a na-etinye ụda voltaji, okpomọkụ nke waya SMA na-abawanye, na-eme ka waya SMA daa.Na fig.Ọgụgụ 2b na-egosi nsonaazụ nnwale nke okpomọkụ waya SMA na oge maka pulse voltaji ntinye 7V.