Ndatenda nekushanyira Nature.com.Shanduro yebrowser yauri kushandisa ine tsigiro yeCSS shoma.Kuti uwane ruzivo rwakanyanya, tinokurudzira kuti ushandise browser yakagadziridzwa (kana kudzima Compatibility Mode muInternet Explorer).Zvichakadaro, kuti tive nechokwadi chekuenderera mberi nerutsigiro, isu tinopa saiti pasina masitaera uye JavaScript.
Actuators anoshandiswa kwese kwese uye kugadzira inodzorwa kufamba nekushandisa iyo chaiyo yekukurudzira simba kana torque kuita akasiyana mashandiro mukugadzira uye maindasitiri otomatiki.Kudiwa kwekukurumidza, kudiki uye kwakawanda kutyaira kuri kutyaira hunyanzvi mudhizaini dhizaini.Shape Memory Alloy (SMA) madhiraivha anopa akati wandei mabhenefiti pamusoro peakajairwa madhiraivha, kusanganisira yakakwira simba-ku-huremu reshiyo.Muchinyorwa ichi, yakagadziridzwa ine minhenga miviri yeSMA-based actuator inosanganisa zvakanakira mhasuru dzeminhenga dzebiological system uye yakasarudzika zvimiro zveSMAs.Ichi chidzidzo chinoongorora nekuwedzera maSMA actuators ekare nekugadzira modhi yemasvomhu yeiyo actuator itsva yakavakirwa pabimodal SMA waya kuronga nekuiedza nekuyedza.Kuenzaniswa nemadhiraivha anozivikanwa akavakirwa paSMA, iyo actuation simba reiyo dhiraivha nyowani inokwana kashanu kumusoro (kusvika ku150 N).Iyo inoenderana uremu kurasikirwa ndeye 67%.Mhedzisiro yekunzwa ongororo yemasvomhu modhi inobatsira pakugadzirisa dhizaini dhizaini uye kunzwisisa akakosha paramita.Ichi chidzidzo chinopazve akawanda-nhanho Nth nhanho dhiraivha iyo inogona kushandiswa kuwedzera dynamics.SMA-yakavakirwa dipvalerate tsandanyama actuators ine dzakasiyana siyana dzekushandisa, kubva pakuvaka otomatiki kusvika kune chaiyo yekuburitsa zvinodhaka masisitimu.
Biological masisitimu, senge tsandanyama dzemhuka dzinoyamwisa, anogona kufambisa akawanda akavanzika actuators1.Mhuka dzinoyamwisa dzine maumbirwo emhasuru akasiyana, imwe neimwe ichishandira chinangwa chaicho.Nekudaro, yakawanda yechimiro chemammalian tsandanyama tishu inogona kukamurwa kuita mapoka maviri akafara.Parallel uye pennate.Muma hamstrings uye mamwe ma flexors, sekureva kunoita zita, the parallel musculature ine tsandanyama fiber dzakafanana nechepakati tendon.Cheni yemhasuru fibers yakamisikidzwa uye inoshanda yakabatana neiyo connective tissue yakapoteredza.Kunyange zvazvo mhasuru idzi dzichinzi dzine rwendo rwakakura (muzana kupfupisa), simba ravo rose retsandanyama rakanyanya kushomeka.Kusiyana neizvi, mu triceps mhuru muscle2 (lateral gastrocnemius (GL) 3, medial gastrocnemius (GM) 4 uye soleus (SOL)) uye extensor femoris (quadriceps) 5,6 pennate muscle tissue inowanikwa mune imwe neimwe muscle7.Muchigadziro chepinenate, mhasuru dzemhasuru mu bipennate musculature dziripo pamativi ese epakati tendon pa oblique angles (pinnate angles).Pennate inobva pashoko rechiLatini rokuti "penna", rinoreva "peni", uye, sezvinoratidzwa muonde.1 ine chitarisiko chakafanana neminhenga.Mafiibhi emhasuru dze pennate mapfupi uye anotenderedzwa kune longitudinal axis yemusuru.Nekuda kweiyo pinnate chimiro, kutenderera kwese kwemhasuru idzi kunoderedzwa, izvo zvinotungamira kune zvakachinjika uye longitudinal zvikamu zvekupfupisa maitiro.Nekune rimwe divi, activation yemhasuru idzi inotungamira kune yakakwira simba retsandanyama nekuda kwemayero anoitwa physiological cross-sectional area.Naizvozvo, kune yakapihwa muchinjika-chikamu nzvimbo, pennate tsandanyama dzinenge dzakasimba uye dzinoburitsa masimba akakwira kupfuura tsandanyama dzine mafibhi anoenderana.Masimba anogadzirwa nemafiibhi ega ega anogadzira masimba emhasuru padanho remacroscopic mune iyo tsandanyama tishu.Mukuwedzera, ine zvinhu zvakasiyana-siyana zvakadai sekukurumidza shrinkage, kudzivirira kubva kune kukuvara kwakaoma, cushioning.Inoshandura hukama pakati pefiber input uye muscle simba rinobuda nekushandisa zvakasiyana-siyana uye geometric kuoma kwegadziriro yefiber inosanganiswa nemitsetse yemitambo yekuita.
Anoratidzwa dhiyagiramu ehurongwa hweiyo iripo SMA-based actuator dhizaini ine chekuita neiyo bimodal muscular architecture, semuenzaniso (a), inomiririra kupindirana kwesimba retactile umo mudziyo wakaita ruoko-wakagadzirwa neSMA waya unoiswa pane maviri-mavhiri akazvimirira nhare robhoti9,10., (b) Robotic orbital prosthesis ine antagonistally yakaiswa SMA spring-loaded orbital prosthesis.Nzvimbo yeziso reprosthetic inodzorwa nechiratidzo chinobva kune ocular muscle yeziso11, (c) SMA actuators yakanakira kushandiswa kwepasi pemvura nekuda kwepamusoro-soro mhinduro uye yakaderera bandwidth.Muchigadziro ichi, maSMA actuators anoshandiswa kugadzira wave kufamba nekuenzanisa kufamba kwehove, (d) SMA actuators inoshandiswa kugadzira micro pipe yekuongorora robhoti inogona kushandisa inch worm motion musimboti, inodzorwa nekufamba kweSMA waya mukati mechiteshi 10, (e) inoratidza kutungamira kwechibvumirano chefiber fibers uye kugadzira wire contractile misumbu yesimba musimba reSMA musimba remuscle (fiber). mune pennate tsandanyama chimiro.
Actuators yave chikamu chakakosha chemakanika masisitimu nekuda kwehuwandu hwavo hwekushandisa.Naizvozvo, kudiwa kwemadhiraivha madiki, anokurumidza uye anoshanda zvakanyanya kunova kwakakosha.Kunyangwe zvakanakira, madhiraivha echinyakare aratidza kuti anodhura uye anotora nguva kuchengetedza.Hydraulic uye pneumatic actuators yakaoma uye inodhura uye inopfeka, matambudziko ekuzora uye kutadza kwechikamu.Mukupindura kudiwa, chinotariswa ndechekugadzira-inodhura-inoshanda, saizi-yakagadziridzwa uye yepamusoro actuators zvichibva pane zvakangwara zvinhu.Tsvagiridzo inoenderera mberi iri kutarisa chimiro chendangariro alloy (SMA) akaturikidzana actuators kuti asangane nechido ichi.Hierarchical actuators akasiyana mukuti anosanganisa akawanda discrete actuators kuita geometrically yakaoma macro scale subsystems kupa kuwedzera uye kuwedzera kushanda.Panyaya iyi, mhasuru yemunhu inotsanangurwa pamusoro apa inopa yakanakisa multilayered muenzaniso weiyo multilayered actuation.Chidzidzo chazvino chinotsanangura dhiraivha yeSMA yakawanda ine akati wandei ega ega (SMA waya) anoenderana nefiber orientation iripo mubimodal tsandanyama, izvo zvinovandudza kuita kwese kwekutyaira.
Chinangwa chikuru cheactuator kugadzira magetsi emagetsi kubuda senge simba uye kusimuka nekushandura simba remagetsi.Shape memory alloys ikirasi ye "smart" zvinhu zvinogona kudzoreredza chimiro chavo pakupisa kwakanyanya.Pasi pemitoro yakakwira, kuwedzera kwekushisa kweSMA waya kunotungamira kudzoreredza chimiro, zvichikonzera kuwanda kwesimba rekuita zvichienzaniswa nemhando dzakasiyana dzakasungirirwa smart zvinhu.Panguva imwecheteyo, pasi pemichina mitoro, maSMA anova brittle.Pasi pemamwe mamiriro, cyclic mutoro unogona kutora uye kuburitsa simba remagetsi, zvichiratidza shanduko inodzoreredzwa yehysteretic chimiro.Izvi zvakasarudzika zvivakwa zvinoita kuti SMA ive yakanaka kune sensors, vibration damping uye kunyanya actuators12.Uine izvi mupfungwa, kwave nekutsvagisa kwakawanda muSMA-based drives.Zvinofanira kucherechedzwa kuti SMA-based actuators yakagadzirirwa kupa kushandura uye kutenderera kwekufamba kweakasiyana maapplication13,14,15.Kunyangwe mamwe ma rotary actuators akagadzirwa, vaongorori vanonyanya kufarira mutsara actuators.Aya mutsara actuators anogona kukamurwa kuva matatu marudzi e actuators: one-dimensional, displacement uye differential actuators 16 .Pakutanga, madhiraivha akasanganiswa akagadzirwa akabatana neSMA uye mamwe madhiraivha akajairwa.Mumwe muenzaniso wakadai weSMA-based hybrid linear actuator ndeye kushandiswa kweSMA waya ine DC mota kupa simba rekubuda rinosvika zana N uye kwakakosha kutamiswa17.
Imwe yekutanga budiriro mumadhiraivha yakavakirwa zvachose paSMA yaive SMA parallel drive.Uchishandisa waya dzakawanda dzeSMA, iyo SMA-based parallel drive yakagadzirirwa kuwedzera simba rekutyaira nekuisa ese SMA18 waya dzakafanana.Parallel connection of actuators haingodi simba rakawanda, asiwo inodzikamisa simba rekubuda kwewaya imwe chete.Chimwe chinokanganisa cheSMA based actuators ndiko kufamba kushoma kwavanogona kuwana.Kugadzirisa dambudziko iri, SMA tambo danda rakagadzirwa riine rakatsauka rinochinjika danda kuti riwedzere kutama uye kuwana mutsara kufamba, asi harina kuburitsa masimba epamusoro19.Zvimiro zvakapfava uye machira emarobhoti akavakirwa pachimiro chendangariro alloys akagadziridzwa zvakanyanya kuitira kukwidziridzwa kwemaitiro20,21,22.Kumashandisirwo anodiwa kumhanya kwakanyanya, pombi dzinofambiswa necompact dzakataurwa dzichishandisa firimu rakatetepa maSMA ekushandisa micropump inofambiswa23.Iyo dhiraivha frequency yefirimu rakatetepa SMA membrane chinhu chakakosha pakudzora kumhanya kwemutyairi.Naizvozvo, SMA linear mota dzine mhinduro iri nani ine simba kupfuura SMA chitubu kana tsvimbo mota.Yakapfava marobhoti uye inobata tekinoroji mamwe maviri maapplication anoshandisa SMA-based actuators.Semuenzaniso, kutsiva yakajairwa actuator inoshandiswa mu25 N space clamp, chimiro chendangariro alloy parallel actuator 24 yakagadzirwa.Mune imwewo nyaya, SMA yakapfava actuator yakagadzirwa yakavakirwa pawaya ine embedded matrix inokwanisa kuburitsa yakanyanya kudhonza simba re30 N. Nekuda kwema mechanical properties, maSMA anoshandiswawo kugadzira actuators inotevedzera biological phenomena.Imwe budiriro yakadaro inosanganisira 12-sero robhoti iri biomimetic yepasi-yakafanana nemhuka ine SMA kugadzira sinusoidal motion kumoto26,27.
Sezvambotaurwa, pane muganhu kune yakanyanya simba iyo inogona kuwanikwa kubva kune iripo SMA-based actuators.Kugadzirisa nyaya iyi, chidzidzo ichi chinopa biomimetic bimodal muscle chimiro.Inotyairwa nechimiro chendangariro alloy waya.Inopa dhizaini sisitimu iyo inosanganisira akati wandei chimiro memory alloy waya.Parizvino, hapana maSMA-based actuators ane chivakwa chakafanana akashumwa mumabhuku.Iyi yakasarudzika uye novel sisitimu yakavakirwa paSMA yakagadziridzwa kuti idzidze maitiro eSMA panguva yebimodal tsandanyama kurongeka.Zvichienzaniswa nezviripo zveSMA-based actuators, chinangwa chechidzidzo ichi chaive chekugadzira biomimetic dipvalerate actuator kuti igadzire masimba akakwira zvakanyanya muvhoriyamu diki.Kuenzaniswa neyakajairwa stepper mota inotyairwa madhiraivha anoshandiswa muHVAC kuvaka otomatiki uye kudzora masisitimu, yakarongwa SMA-yakavakirwa bimodal drive dhizaini inoderedza huremu hwedhiraivha ne67%.Mune zvinotevera, mazwi ekuti "tsandanyama" uye "kutyaira" anoshandiswa zvakafanana.Ichi chidzidzo chinoongorora multiphysics simulation yekutyaira kwakadaro.Iyo mechanical maitiro ezvirongwa zvakadaro zvakadzidzwa nekuedza uye nzira dzekuongorora.Simba uye kugoverwa kwekushisa kwakawedzera kuongororwa pamagetsi ekuisa 7 V. Zvadaro, kuongorora kweparametric kwakaitwa kuti kunzwisiswe zviri nani hukama pakati pezvikamu zvakakosha uye simba rekubuda.Chekupedzisira, hierarchical actuators yakafungidzirwa uye hierarchical level mhedzisiro yakakurudzirwa senzvimbo yeramangwana yeasiri magineti actuators yeprosthetic application.Zvinoenderana nemhedzisiro yezvidzidzo zvambotaurwa, kushandiswa kwechikuva chechikamu chimwe chete kunoburitsa masimba anopeta kana kana kashanu kupfuura yakashumwa SMA-based actuators.Pamusoro pezvo, simba rimwechete rekutyaira rakagadzirwa neakawanda-level-level drive rakaratidzwa kuva rinopfuura zvakapetwa kagumi iro rezvakajairwa SMA-based drives.Chidzidzo chacho chinozotaura zvakakosha paramita uchishandisa sensitivity ongororo pakati pezvakasiyana magadzirirwo uye ekuisa akasiyana.Kureba kwekutanga kweSMA wire (\(l_0\)), iyo pinnate angle (\(\ alpha\)) uye nhamba yetambo imwe chete (n) mune imwe neimwe tambo ine simba rakaipa rakaipa pahukuru hwesimba rekufambisa.simba, nepo magetsi ekuisa (simba) akave akabatana zvakanaka.
SMA waya inoratidza chimiro chendangariro mhedzisiro (SME) inoonekwa mune nickel-titanium (Ni-Ti) mhuri yema alloys.Kazhinji, maSMA anoratidza maviri tembiricha zvinoenderana nezvikamu: yakaderera tembiricha chikamu uye yakakwirira tembiricha chikamu.Zvikamu zviviri izvi zvine zvimiro zvakasiyana nekuda kwekuvapo kweakasiyana makristasi zvimiro.Muchikamu che austenite (yepamusoro tembiricha chikamu) chiripo pamusoro peiyo tembiricha yekushandura, zvinhu zvinoratidzira simba rakawanda uye hazvina kunaka kuremara pasi pemutoro.Iyo alloy inoita sesimbi isina tsvina, saka inokwanisa kumirisana nepamusoro actuation pressure.Kutora mukana weichi chivakwa cheNi-Ti alloys, iyo SMA waya dzakatenuka kuti dzigadzire actuator.Mamodheru akakodzera ekuongorora anogadzirwa kuti anzwisise akakosha mechanics ehunhu hwekudziya kweSMA pasi pesimba reakasiyana ma paramita uye akasiyana geometries.Chibvumirano chakanaka chakawanikwa pakati pemigumisiro yekuedza uye yekuongorora.
Chidzidzo chekuedza chakaitwa pane prototype inoratidzwa muFig. 9a kuti iongorore kushanda kwebhimodal drive inobva paSMA.Zviviri zvezvinhu izvi, simba rinogadzirwa nedhiraivha (muscle force) uye tembiricha yeSMA waya (SMA tembiricha), zvakayerwa zviyedzwa.Sezvo mutsauko wevoltage uchiwedzera pamwe nehurefu hwese hwewaya mudhiraivha, tembiricha yewaya inowedzera nekuda kweiyo Joule yekupisa mhedzisiro.Mhepo inopinza yakashandiswa muzvikamu zviviri zve 10-s (inoratidzwa semadonhwe matsvuku mumufananidzo 2a, b) ine 15-s kutonhora nguva pakati pega rega.Simba rekuvhara rakayerwa pachishandiswa piezoelectric strain gauge, uye kugoverwa kwekushisa kwetambo yeSMA kwakatariswa munguva chaiyo uchishandisa kamera yesayenzi-grade high-resolution LWIR (ona maitiro emidziyo inoshandiswa muTebhu 2).inoratidza kuti panguva yepamusoro yemagetsi, tembiricha yewaya inowedzera monotonically, asi kana pasina ikozvino iri kuyerera, tembiricha yewaya inoramba ichidonha.Muchiyedzo chazvino chekuseta, tembiricha yeSMA waya yakadonha panguva yekutonhora, asi yaive ichiri pamusoro petembiricha.Pamusoro pemuonde.2e inoratidza mufananidzo wekushisa paSMA waya yakatorwa kubva kuLWIR kamera.Ukuwo, muonde.2a inoratidza simba rekuvhara rinogadzirwa nedhiraivha system.Kana simba retsandanyama richipfuura simba rekudzorera rechitubu, ruoko runofambiswa, sezvinoratidzwa mumufananidzo 9a, runotanga kufamba.Pangotanga actuation, ruoko runofambiswa rwunosangana ne sensor, ichigadzira simba remuviri, sezvakaratidzwa muonde.2c,d.Kana tembiricha yepamusoro yave pedyo ne \(84\,^{\circ}\hbox {C}\), iyo yakanyanya kucherechedzwa simba i105 N.
Girafu inoratidza mhedzisiro yekuedzwa kwekushisa kweSMA waya uye simba rinogadzirwa neSMA-based bimodal actuator panguva mbiri.Mhepo yekupinza inoiswa muzvikamu zviviri zvegumi zvesekondi (zvinoratidzwa semadotsi matsvuku) ine 15 sekondi inotonhorera pasi pakati pese kutenderera.Iyo SMA waya yakashandiswa pakuedza yaive 0.51 mm dhayamita yeFlexinol waya kubva kuDynalloy, Inc. (a) Girafu inoratidza simba rekuyedza rakawanikwa pamatanho maviri, (c, d) rinoratidza mienzaniso miviri yakazvimirira yemaitiro ekufambisa maoko actuators paPACEline CFT/5kN piezoelectric force transducer, (b) iyo yakanyanya tembiricha yenguva (b) iyo tembiricha yenguva inotaridza magirafu maviri, girafu rinoratidza tembiricha mbiri panguva yegirafu. napshot yakatorwa kubva kuSMA waya uchishandisa iyo FLIR ResearchIR software LWIR kamera.Iyo geometric parameters inotorwa mukuongororwa mukuedza inopiwa muTafura.Poshi.
Migumisiro yekufananidza yemuenzaniso wemasvomhu nemigumisiro yekuedza inofananidzwa pasi pemamiriro ekuisa magetsi e7V, sezvinoratidzwa muFig.5.Zvinoenderana nemhedzisiro yekuongorora kweparametric uye kuitira kudzivirira mukana wekupisa kweSMA waya, simba re11.2 W rakapihwa kune actuator.A programmable DC magetsi akashandiswa kugovera 7V semagetsi ekuisa, uye yazvino ye1.6A yakayerwa pawaya.Simba rinogadzirwa nedhiraivha uye tembiricha yeSDR inowedzera kana ikozvino yashandiswa.Nemagetsi ekuisa 7V, iyo yakanyanya kubuda simba yakawanikwa kubva mumisikidzo mibairo uye mhedzisiro yekuyedza yekutanga kutenderera ndeye 78 N uye 96 N, zvichiteerana.Muchikamu chechipiri, simba guru rekubuda rekufananidza nemigumisiro yekuedza yaiva 150 N uye 105 N, zvichienderana.Kusiyana pakati pezviyero zve occlusion simba uye data yekuedza inogona kunge yakakonzerwa nenzira inoshandiswa kuyera occlusion force.Migumisiro yekuedza inoratidzwa mufig.5a inoenderana nekuyerwa kwesimba rekuvhara, iro rakayerwawo apo shaft yekutyaira yakasangana nePACEline CFT/5kN piezoelectric force transducer, sezvakaratidzwa mufig.2s.Nokudaro, kana shaft yemotokari isingabatanidzi nemagetsi emagetsi pakutanga kwenzvimbo inotonhora, simba rinobva rava zero, sezvinoratidzwa mumufananidzo 2d.Uye zvakare, mamwe ma paramita anokanganisa kuumbwa kwesimba mune anotevera matenderedzwa ndiwo makoshero enguva yekutonhora uye coefficient ye convective kupisa kwekufambisa mune yapfuura kutenderera.Kubva muonde.2b, zvinogona kuonekwa kuti mushure mekutonhora kwechipiri che15, iyo SMA wire haina kusvika kune tembiricha yekamuri uye saka yaive nepamusoro pekutanga tembiricha (\(40\,^{\circ }\hbox {C}\)) mumutambo wechipiri wekutyaira uchienzanisa nekutanga kutenderera (\(25\, ^{\circ}\hbox {C}\)).Nokudaro, kana ichienzaniswa neyekutanga kutenderera, kutonhora kwetambo yeSMA panguva yechipiri yekupisa kunosvika kune yekutanga austenite tembiricha (\(A_s\)) kare uye inogara munguva yekuchinja kwenguva yakareba, zvichiita kuti kushushikana uye simba.Nekune rimwe divi, kugoverwa kwetembiricha panguva yekudziya uye kutonhora kutenderera kunowanikwa kubva mukuyedza uye kuenzanisa kune yakakwirira yemhando kufanana kune mienzaniso kubva pakuongorora kwe thermographic.Kuenzanisa ongororo yeSMA waya yekupisa dhata kubva mukuyedza uye kuenzanisa kwakaratidza kuenderana panguva yekudziya uye kutonhora kutenderera uye mukati mekugamuchira kunogamuchirwa kwedata rekuyedza.Iyo yakanyanya tembiricha yeSMA waya, yakawanikwa kubva mumhedzisiro yekufananidza uye kuedza kwekutanga kutenderera, \(89\,^{\circ }\hbox {C}\) uye \(75\,^{\circ }\hbox {C}\, zvichiteerana ), uye muchikamu chechipiri tembiricha yepamusoro yeSMA wire,\\\ci{} bhokisi ^ 9, 8 {} 9 , C ( 9 , C 8 {} , 9 , C ( 9 , C 8 {} 9 , C ( 9 , 9 rc \circ }\ hbox {C}\).Iyo yakagadziridzwa modhi inosimbisa mhedzisiro yechimiro chendangariro maitiro.Basa rekuneta uye kupisa harina kufungidzirwa muongororo iyi.Mune ramangwana, modhi ichavandudzwa kuti ibatanidze nhoroondo yekushushikana kweSMA waya, ichiita kuti ive yakakodzera kune einjiniya application.Iyo dhiraivha inoburitsa simba uye SMA tembiricha zvirongwa zvakawanikwa kubva kuSimulink block zviri mukati mekubvumirwa kushivirira kwe data yekuyedza pasi pemamiriro ekuisa voltage pulse ye7 V. Izvi zvinosimbisa kururamisa uye kuvimbika kweiyo yakagadzirwa masvomhu muenzaniso.
Iyo modhi yemasvomhu yakagadziridzwa munzvimbo yeMathWorks Simulink R2020b uchishandisa iwo equation akakosha anotsanangurwa muchikamu cheNzira.Pamusoro pemuonde.3b inoratidza dhizaini reSimulink math modhi.Iyo modhi yakatevedzerwa ye7V yekupinza voltage pulse sezvakaratidzwa muFig. 2a, b.Izvo zvakakosha zvezviyero zvakashandiswa mukufananidza zvakanyorwa muTebhu 1. Migumisiro yekufananidza kwemaitiro ekupedzisira inoratidzwa muMifananidzo 1 uye 1. Mifananidzo 3a uye 4. Mumuonde.4a,b inoratidza iyo induced voltage muSMA wire uye simba rinogadzirwa neactuator sebasa renguva. Panguva yekushandura reverse (kupisa), apo tembiricha yeSMA wire, \(T <A_s^{\prime}\) (stress-modified austenite phase start tembiricha), chiyero chekuchinja kwemartensite volume fraction (\(\dot{\xi}\)) ichava zero. Panguva yekushandura reverse (kupisa), apo tembiricha yeSMA wire, \(T <A_s^{\prime}\) (stress-modified austenite phase start tembiricha), chiyero chekuchinja kwemartensite volume fraction (\(\dot{\xi xi}\)) ichava zero. Во время обратного превращения (нагрева), когда температура проволоки SMA, \(T < A_s^{\prime}\) (температура начала аустенитной проволоки SMA, \(T < A_s^{\prime}\)" сть изменения объемной доли мартенсита (\(\dot{\ xi }\)) будет равно нулю. Munguva yekushandura kushanduka (kupisa), apo kutonhora kweSMA wire, \(T <A_s^{\prime}\) (stress-modified austenite kutanga tembiricha), chiyero chekuchinja kwechikamu chemartensite volume (\(\ dot{\ xi }\ )) chichava zero.在反向转变（加热）过程中，当SMA 线温度\(T < A_s^{\prime}\))积分数的变化率（\(\dot{\ xi }\)) 将為零。在 反向 转变 （加热） 中, 当 当 线 温度 \ (t При обратном превращении (нагреве) при температуре проволоки СПФ \(T < A_s^{\prime}\) (температура зарождения аустенитной проволоки СПФ \(T < A_s^{\prime}\) объемной доли мартенсита (\( \dot{\ xi }\)) будет равно нулю. Munguva yekushandura kushanduka (kupisa) pakupisa kweSMA wire \ (T < A_s ^ {\ prime}\) (kupisa kwe nucleation ye austenite phase, yakagadziriswa nokuda kwekunetseka), chiyero chekuchinja muhuwandu hwechikamu che martensite (\( \ dot{\ xi }\)) ichave yakaenzana zero.Nokudaro, chiyero chekuchinja kwekutambudzika (\(\dot{\sigma}\)) chichaenderana nechiyero chekutambudzika (\(\dot{\epsilon}\)) uye tembiricha gradient (\(\dot{T} \)) chete nekushandisa equation (1).Zvisinei, sezvo tambo yeSMA inowedzera mukupisa uye michinjikwa (\(A_s^{\prime}\)), chikamu che austenite chinotanga kuumba, uye (\(\ dot{\xi}\)) inotorwa seyakapiwa kukosha kweequation (3).Naizvozvo, chiyero chekuchinja kwemagetsi (\(\dot{\sigma}\)) inodzorwa pamwe chete ne \(\dot{\epsilon}, \dot{T}\) uye \(\dot{\xi}\) inoenzana nekupihwa mufomula (1).Izvi zvinotsanangura kuchinja kwe gradient kunoonekwa munguva-kusiyana-siyana kunetseka uye kumanikidzira mamepu panguva yekupisa, sezvinoratidzwa mumufananidzo 4a, b.
(a) Simulation mhedzisiro inoratidza kugovera tembiricha uye kusagadzikana-induced junction tembiricha mune SMA-based divalerate actuator.Kana tembiricha yewaya ichiyambuka tembiricha yeaustenite yekuchinja munzvimbo yekudziya, tembiricha yakagadziridzwa yeaustenite inotanga kuwedzera, uye zvakafanana, kana tembiricha yewaya ichiyambuka tembiricha yemartensitic muchikamu chekutonhora, tembiricha yemartensitic inodzikira.SMA yekuongorora modhi yeiyo actuation maitiro.(Kuti uwane ruzivo rwakadzama rweimwe neimwe subsystem yeSimulink modhi, ona chikamu chekuwedzera chefaira rekuwedzera.)
Mhedzisiro yeongororo yekugoverwa kwakasiyana kweparameta inoratidzwa pamatenderedzwa maviri eiyo 7V yekupinza voltage (10 sekondi yekudziya yekutenderera uye gumi nemashanu sekondi inotonhorera pasi).Nepo (ac) na (e) vachiratidzira kugoverwa nekufamba kwenguva, kune rumwe rutivi, (d) uye (f) kuratidza kugoverwa netembiricha.Kune akateedzana mamiriro ekuisa, iyo yakanyanya kucherechedzwa kushushikana i106 MPa (isingasviki 345 MPa, waya yegoho simba), simba iri 150 N, iyo yakanyanya kusimuka i270 µm, uye shoma martensitic vhoriyamu chikamu 0.91.Kune rimwe divi, shanduko yekushushikana uye shanduko yevhoriyamu chikamu chemartensite ine tembiricha yakafanana neiyo hysteresis maitiro.
Tsanangudzo imwechete inoshanda kune yakananga shanduko (kutonhora) kubva kune austenite chikamu kusvika kune martensite chikamu, uko iyo SMA wire tembiricha (T) uye yekupedzisira tembiricha yekushungurudzika-yakagadziriswa martensite phase (\(M_f^{\prime}\ )) yakanaka.Pamusoro pemuonde.4d,f inoratidza shanduko mukushushikana kwakakonzera (\(\ sigma\)) uye vhoriyamu chikamu chemartensite (\(\xi\)) muSMA wire sebasa rekuchinja kwekushisa kweSMA wire (T), kune ese ari maviri madhiraivha ekutyaira.Pamusoro pemuonde.Mufananidzo 3a unoratidza shanduko yekushisa kweSMA waya nenguva zvichienderana nekuisa voltage pulse.Sezvinoonekwa kubva pamufananidzo, tembiricha yewaya inoramba ichiwedzera nekupa sosi yekupisa pa zero voltage uye inotevera inotonhorera kutonhora.Munguva yekupisa, kushandurwa kwemartensite kusvika kuchikamu che austenite kunotanga apo SMA wire tembiricha (T) inoyambuka kushushikana-yakagadziriswa austenite nucleation tembiricha (\(A_s^{\prime}\)).Munguva iyi, iyo SMA waya inomanikidzwa uye actuator inogadzira simba.Uyewo panguva yekutonhora, apo kutonhora kweSMA wire (T) kunoyambuka kupisa kwe nucleation ye-stress-modified martensite phase (\(M_s ^{\prime}\)) kune kuchinja kwakanaka kubva pachikamu che austenite kusvika kuchikamu chemartensite.simba rekutyaira rinoderera.
Iwo mahombe ehunhu eiyo bimodal drive yakavakirwa paSMA inogona kuwanikwa kubva kune simulation mhedzisiro.Panyaya yevoltage pulse input, tembiricha yeSMA waya inowedzera nekuda kweiyo Joule yekupisa mhedzisiro.Kukosha kwekutanga kwechikamu chemartensite volume (\(\xi\)) chakaiswa ku1, sezvo zvinhu zvacho zvinotanga muchikamu chemartensitic.Sezvo waya inoramba ichipisa, kutonhora kweSMA wire kunopfuura kushushikana-kugadziriswa austenite nucleation tembiricha \ (A_s ^ {\ prime} \), zvichiita kuti kuderera kwechikamu chemartensite volume, sezvinoratidzwa mumufananidzo 4c.Mukuwedzera, mumuonde.4e inoratidza kugoverwa kwekurohwa kweactuator munguva, uye muonde.5 - kutyaira simba sebasa renguva.Iyo yakabatana sisitimu ye equations inosanganisira tembiricha, martensite vhoriyamu chikamu, uye kushushikana kunoitika muwaya, zvichikonzera kuderera kwetambo yeSMA uye simba rinogadzirwa neanoridza.Sezvinoratidzwa mufig.4d,f, kusiyanisa kwevoltage pamwe netembiricha uye martensite vhoriyamu kusiyanisa netembiricha inoenderana neiyo hysteresis maitiro eSMA mune yakateedzerwa kesi pa7 V.
Kuenzanisa kwekufambisa parameters kwakawanikwa kuburikidza nekuedza uye analytical calculations.Waya idzi dzakaiswa pasi peiyo pulsed input voltage ye7 V kwemasekonzi gumi, ndokuzodzika pasi kwemasekonzi gumi nemashanu (chikamu chekutonhora) pamusoro pematenderedzwa maviri.Iyo pinnate angle yakaiswa ku \(40^{\ circ}\) uye kureba kwekutanga kwewaya yeSMA mugumbo rega rega repini kwakaiswa ku83mm.(a) Kuyera simba rekutyaira nesero rinotakura (b) Kutarisisa tembiricha yewaya nekamera inodziya infrared.
Kuti unzwisise kupesvedzera kwemaitiro emuviri pane simba rinogadzirwa nedhiraivha, kuongororwa kwekunzwa kweiyo masvomhu modhi kune yakasarudzwa yemuviri parameter yakaitwa, uye maparamendi akarongedzerwa maererano nesimba ravo.Kutanga, sampling yemaparamendi emuenzaniso yakaitwa pachishandiswa misimboti yekugadzira yakatevera kugovera kwakafanana (ona Supplementary Section on Sensitivity Analysis).Muchiitiko ichi, maparameter emuenzaniso anosanganisira kuisa magetsi (\(V_{in}\)), kutanga SMA waya kureba (\(l_0\)), triangle angle (\(\alpha\)), bias spring constant (\( K_x\ )), iyo convective heat transfer coefficient (\(h_T\)) uye nhamba yemapazi unimodal (n).Muchinhanho chinotevera, simba repamusoro-soro remhasuru rakasarudzwa sechinodikanwa chekugadzira chidzidzo uye parametric mhedzisiro yeseti yega yega yekusiyana pane simba yakawanikwa.Zvirongwa zvechamupupuri zvekuongorora kwekunzwa zvakatorwa kubva kune corelation coefficients kune imwe neimwe parameter, sezvakaratidzwa mumufananidzo 6a.
(a) Iyo yekubatanidza coefficient kukosha kweiyo modhi maparamendi uye mhedzisiro yavo pane yakanyanya kubuda simba re2500 yakasarudzika mapoka eiyo pamusoro apa modhi paramita inoratidzwa muchamupupuri chiitiko.Girafu inoratidza kuwirirana kwezviyero zvezviratidzo zvakawanda.Zviripachena kuti \(V_{in}\) ndiyo yega parameter ine hukama hwakanaka, uye \(l_0\) ndiyo parameter ine yakanyanya kunaka kuwirirana.Mhedzisiro yeakasiyana maparamendi mumasanganiswa akasiyana pane yepamusoro tsandanyama simba inoratidzwa mu (b, c).\(K_x\) inotangira pa400 kusvika pa800 N/m uye n inotangira pa4 kusvika pa24. Voltage (\(V_{in}\)) yakashanduka kubva ku4V kuenda ku10V, kureba kwewaya (\(l_{0 } \)) yakashanduka kubva pa40 kuenda ku100 mm, uye mutsara wekona (\) (2\ ^\ alpha) \ rc (\) ^ ^\ alpha \ , 0 - ^\ alpha. )
Pamusoro pemuonde.6a inoratidza chamupupuri chiitiko cheakasiyana ekubatanidza coefficients kune yega yega paramita ine peak drive simba dhizaini zvinodiwa.Kubva muonde.6a zvinogona kuoneka kuti iyo voltage parameter (\(V_{in}\)) yakanangana neiyo yakanyanya kuburitsa simba, uye iyo convective kupisa kupisa coefficient (\(h_T\)), flame angle (\ (\alpha\)) , displacement spring constant (\(K_x\)) inopindirana zvisina kunaka neiyo inobuda simba uye iyo yekutanga SMA nhamba uye iyo yekutanga SMA n _ tambo kureba (m_ wire). inoratidza kuwirirana kwakasimba kunopesana Muchiitiko chekugadzirisa kwakananga Muchiitiko chepamusoro chepamusoro chevheji coefficient coefficient (\ (V_ {in}\)) inoratidza kuti iyi parameter ine simba guru pane simba rinobuda.Kumwe kuongorora kwakafanana kunoyera simba repamusoro kuburikidza nekuongorora kushanda kwezvikamu zvakasiyana-siyana mukusanganiswa kwakasiyana kwenzvimbo mbiri dze computational, sezvinoratidzwa mumufananidzo 6b, c.\(V_{in}\) uye \(l_0\), \(\alpha\) ne\(l_0\) anemapatani akafanana, uye girafu rinoratidza kuti \(V_{in}\) ne\(\alpha\ ) ne\(\alpha\) ane mapatani akafanana.Zvidiki zvidiki zve \(l_0\) zvinoguma nepamusoro pepamusoro mauto.Mamwe mapoka maviri anofambirana neFigure 6a, apo n uye \(K_x\) zvine hukama husina kunaka uye \(V_{in}\) zvine hukama hwakanaka.Kuongorora uku kunobatsira kutsanangura uye kugadzirisa maparamendi anopesvedzera ayo anoburitsa simba, sitiroko uye kugona kwedhiraivha system inogona kuchinjika kune zvinodiwa uye kushandiswa.
Basa razvino rekutsvagisa rinosuma uye rinoferefeta madhiraivha ane maN mazinga.Muchikamu chepamusoro-soro, sezvinoratidzwa mumufananidzo 7a, apo panzvimbo yetambo imwe neimwe yeSMA yemutambo wekutanga, kugadzirisa bimodal kunowanikwa, sezvinoratidzwa mufig.9e.Pamusoro pemuonde.7c inoratidza kuti waya yeSMA yakakuvadzwa sei paruoko runofambiswa (ruwoko rwekubatsira) runongofamba munzira yakareba.Nekudaro, ruoko rwekutanga runofambiswa rwunoramba ruchifamba nenzira imwechete neruoko runofambiswa rwekutanga nhanho yakawanda-nhanho actuator.Kazhinji, N-stage drive inogadzirwa nekutsiva \(N-1\) nhanho yeSMA waya neyekutanga-danho rekutyaira.Nekuda kweizvozvo, bazi rega rega rinotevedzera danho rekutanga, kunze kwebazi rinobata waya pachayo.Nenzira iyi, zvivakwa zvakaiswa madendere zvinogona kuumbwa izvo zvinogadzira masimba akakura kakawanda kupfuura masimba ekutanga madhiraivha.Muchidzidzo ichi, kune imwe neimwe nhanho, hurefu hunobudirira hweSMA hurefu hwemamita 1 hwakatorwa munhoroondo, sezvakaratidzwa mumutauro wetabula muFig. 7d.Iyo yazvino kuburikidza newaya yega yega mune yega unimodal dhizaini uye inokonzeresa prestress uye voltage mune yega SMA waya segment zvakafanana padanho rega rega.Zvinoenderana neyedu yekuongorora modhi, simba rekubuda rinoenderana nedanho, nepo kutamiswa kwakabatana zvisina kunaka.Panguva imwecheteyo, pakanga paine kutengeserana pakati pekutamisa uye kusimba kwemhasuru.Sezvinoonekwa mufig.7b, nepo simba guru rinowanikwa muhuwandu hukuru hwezvikamu, kutamiswa kukuru kunocherechedzwa munzvimbo yakaderera.Pakaiswa nhanho yehumambo ku \ (N = 5 \), simba repamusoro remhasuru re 2.58 kN rakawanikwa riine 2 yakacherechedzwa sitiroko \ (\ upmu \) m.Kune rumwe rutivi, danho rekutanga rinogadzira simba re 150 N pakurova kwe 277 \ (\ upmu \) m.Multi-level actuators inokwanisa kutevedzera chaiyo biological tsandanyama, uko mhasuru dzekugadzira dzakavakirwa pachimiro chendangariro alloys dzinokwanisa kuburitsa masimba akakwira zvakanyanya nekufamba chaiko uye kwakanaka.Izvo zvinogumira zveiyi miniaturized dhizaini ndeyekuti sezvo hierarchy inowedzera, kufamba kunodzikiswa zvakanyanya uye kuomarara kwedhiraivha yekugadzira maitiro kunowedzera.
(a) A-matanho maviri (\(N=2\)) akaturikidzana chimiro memory alloy linear actuator system inoratidzwa mune bimodal kumisikidza.Iyo yakatsanangurwa modhi inowanikwa nekutsiva iyo SMA waya mudanho rekutanga rakaturikidzana actuator neimwe nhanho yakaturikidzana actuator.(c) Yakaremara kumisikidzwa kwechipiri nhanho multilayer actuator.(b) Kugoverwa kwemasimba uye kutamiswa zvichienderana nehuwandu hwemazinga anotsanangurwa.Zvakaonekwa kuti peak force of the actuator inopindirana zvakanaka nechiyero chechiyero pagirafu, nepo sitiroko iine hukama husina kunaka nechiyero chechiyero.Ikozvino uye pre-voltage mune imwe neimwe waya inoramba isingagumi pamatanho ose.(d) Tafura inoratidza huwandu hwematepi uye kureba kweSMA waya (fiber) padanho rega rega.Unhu hwetambo hunoratidzwa nendekisi 1, uye nhamba yematavi echipiri (imwe yakabatana negumbo rekutanga) inoratidzwa nenhamba huru pane zvinyorwa.Semuenzaniso, padanho 5, \(n_1\) inoreva nhamba yeSMA waya dziripo mune yega yega bimodal chimiro, uye \(n_5\) inoreva huwandu hwemakumbo ebetsero (imwe yakabatana negumbo guru).
Nzira dzakasiyana-siyana dzakakurudzirwa nevatsvakurudzi vakawanda kuti vaenzanisire maitiro eSMAs ane chimiro chekuyeuka, izvo zvinoenderana nemamiriro ekugadzirisa thermomechanical anoperekedza shanduko ye macroscopic muchimiro chekristaro chakabatana nechikamu cheshanduko.Magadzirirwo ezvinoumba nzira akaomarara.Iyo inonyanya kushandiswa phenomenological modhi inokurudzirwa naTanaka28 uye inoshandiswa zvakanyanya muinjiniya application.Iyo phenomenological modhi yakatsanangurwa naTanaka [28] inofungidzira kuti chikamu chevhoriyamu chemartensite ibasa rinoratidza tembiricha uye kushushikana.Gare gare, Liang naRogers29 naBrinson30 vakaronga modhi umo iyo chikamu chekushandura dynamics chaifungidzirwa kuve cosine basa remagetsi uye tembiricha, ine zvishoma zvigadziriso kune modhi.Becker naBrinson vakakurudzira chikamu chedhiyagiramu yakavakirwa kinetic modhi yekuenzanisira maitiro eSMA zvinhu pasi pemamiriro ekurodha zvisina tsarukano pamwe nekusarudzika.Banerjee32 inoshandisa iyo Bekker uye Brinson31 chikamu chedhiyagiramu dynamics nzira kutevedzera imwe dhigirii yerusununguko manipulator yakagadziriswa naElahinia naAhmadian33.Kinetic nzira dzakavakirwa pachikamu dhayagiramu, iyo inotora iyo nonmonotonic shanduko yevoltage ine tembiricha, inonetsa kuita mumashandisirwo einjiniya.Elakhinia neAhmadian vanokwevera pfungwa kune izvi kukanganisa kweiyo iripo phenomenological modhi uye vanopa yakawedzera phenomenological modhi yekuongorora uye kutsanangura chimiro chendangariro maitiro pasi pemamiriro ese akaomarara ekurodha.
Iyo yekumisikidza modhi yeSMA waya inopa kushushikana (\(\ sigma\)), strain (\(\epsilon\)), tembiricha (T), uye martensite vhoriyamu chikamu (\(\xi\)) yeSMA waya.Iyo phenomenological constitutive modhi yakatanga kutaurwa naTanaka28 ndokuzogamuchirwa naLiang29 naBrinson30.Rinobva paequation rine fomu:
uko E ndiyo chikamu chinotsamira SMA Young's modulus yakawanikwa uchishandisa \(\ displaystyle E=\xi E_M + (1-\xi )E_A\) uye \(E_A\) uye \(E_M\) inomiririra Young's modulus are austenitic and martensitic phases, zvichiteerana, uye coefficient of thermal expansion by (T\) inomiririrwa.The phase transition contribution factor is \(\Omega = -E \epsilon _L\) uye \(\epsilon _L\) ndiyo yakanyanya kudzoreredzwa kunetsa muSMA waya.
Iyo phase dynamics equation inopindirana nebasa recosine rakagadzirwa naLiang29 uye rakazogamuchirwa naBrinson30 pachinzvimbo cheexponential function yakatsanangurwa naTanaka28.The phase transition modhi ndeyekuwedzera kweiyo modhi yakatsanangurwa naElakhinia naAhmadian34 uye yakagadziridzwa zvichienderana nechikamu chekuchinja mamiriro akapihwa naLiang29 naBrinson30.Mamiriro ezvinhu anoshandiswa kune iyi chikamu chekushandura modhi inoshanda pasi peakaoma thermomechanical mitoro.Pane imwe neimwe nguva yenguva, kukosha kwevhoriyamu chikamu chemartensite chinoverengerwa pakuenzanisira iyo constitutive equation.
Iyo inotonga yekushandura equation, inoratidzwa nekushandurwa kwemartensite kuita austenite pasi pekupisa mamiriro, ndeaya anotevera:
uko \(\xi\) iri vhoriyamu chikamu chemartensite, \(\xi _M\) chikamu chevhoriyamu chemartensite chakawanikwa isati yapisa, \(\displaystyle a_A = \pi /(A_f - A_s)\), \ (\displaystyle b_A = -a_A/C_A\) uye \(C_A\) - SMA _tembiricha (sma) - curve (smamita _A_T) - SMA . _f\) - kutanga uye kupera kwechikamu che austenite, zvichiteerana, tembiricha.
Iyo yakananga shanduko yekudzora equation, inomiririrwa nechikamu shanduko ye austenite kune martensite pasi pekutonhora mamiriro, ndeiyi:
apo \(\xi _A\) iri vhoriyamu chikamu chemartensite chakawanikwa isati yatonhodza, \(\displaystyle a_M = \pi /(M_s - M_f)\), \(\displaystyle b_M = -a_M/C_M\) uye \ ( C_M \) - curve inokodzera paramita, T - SMA wires_ tembiricha - M_ saiti tembiricha, marten yekutanga, marten ly.
Mushure mekunge equation (3) uye (4) yasiyaniswa, iyo inverse uye yakananga shanduko equations inorerutswa kune inotevera fomu:
Munguva yeshanduko yekumberi nekumashure \(\eta _{\sigma}\) uye \(\eta _{T}\) inotora hunhu hwakasiyana.Mabasic equations ane chekuita ne \(\eta _{\sigma}\) uye \(\eta _{T}\) akatorwa uye akakurukurwa zvakadzama mune chimwe chikamu.
Iyo yekupisa simba inodiwa kusimudza tembiricha yeSMA waya inobva kuJoule heat effect.Iyo yekupisa simba inotorwa kana kuburitswa neSMA waya inomiririrwa nekupisa kwakadzikama kweshanduko.Kurasikirwa kwekupisa muwaya yeSMA kunokonzerwa nekumanikidzwa kutenderera, uye nekupihwa isingaite mhedzisiro yemwaranzi, kupisa kwesimba rekuenzanisa equation kunotevera:
Apo \(m_{waya}\) ihwo huwandu hwehuwandu hweSMA wire, \(c_{p}\) ndiyo chaiyo inopisa simba reSMA, \(V_{in}\) ndiyo voltage inoshandiswa kune waya, \(R_{ohm} \ ) - phase-dependent resistance SMA, inotsanangurwa se;\(R_{ohm} = (l/A_{muchinjikwa})[\xi r_M + (1-\xi )r_A]\ ) uko \(r_M\) uye \(r_A\) ndiyo SMA phase resistivity mu martensite uye austenite, zvichiteerana, \(A_{c}\) inzvimbo yepamusoro yeSMA ndangariro \(\ y) ndangariro .Kupisa kwakadzikama kwekuchinja kwewaya, T uye \(T_{\infty}\) ndiyo tembiricha yeSMA waya uye nharaunda, zvichiteerana.
Kana chimiro chekuyeuka alloy waya chaitwa, waya inodzvanya, ichigadzira simba mubazi rega rega reiyo bimodal dhizaini inonzi fiber force.Masimba emafibhi mutambo imwe neimwe yeSMA wire pamwe chete anogadzira simba remhasuru kuti riite, sezvinoratidzwa mumufananidzo 9e.Nekuda kwekuvapo kwechitubu chakarerekera, simba rose remhasuru yeNth multilayer actuator ndeiyi:
Kutsiva \ (N = 1\) muequation (7), simba remhasuru rekutanga bimodal drive prototype rinogona kuwanikwa sezvizvi:
apo n inhamba yemakumbo eunimodal, \(F_m\) isimba remhasuru rinogadzirwa nedhiraivha, \ (F_f\) isimba refayibha muSMA wire, \(K_x\) ndiko kuoma kwakarerekera.chitubu, \(\ alpha\) ndiyo kona yegonyonhatu, \(x_0\) ndiyo yekutanga kugadzirisa kwechitubu chekurerekera kubata tambo yeSMA iri pachinzvimbo chekare, uye \(\Delta x\) ndiyo actuator yekufamba.
Kutamiswa kwese kana kufamba kwedhiraivha (\(\ Delta x\)) zvichienderana nevoltage (\(\ sigma\)) uye strain (\(\epsilon\)) paSMA wire yeNth nhanho, dhiraivha inoiswa ku (ona Fig. yekuwedzera chikamu chekubuda):
Iyo kinematic equations inopa hukama pakati pedhiraivha deformation (\(\epsilon\)) uye kutama kana kutama (\(\Delta x\)).Iyo deformation yeArb wire sebasa rekutanga Arb wire kureba (\(l_0\)) uye kureba kwewaya (l) chero nguva t mune rimwe unimodal bazi iri sezvinotevera:
apo \(l = \sqrt{l_0^2 +(\Delta x_1)^2 – 2 l_0 (\Delta x_1) \cos \alpha _1}\) inowanikwa nekushandisa cosine formula mu \(\Delta\)ABB', sezviri kuratidzwa paMufananidzo 8. Padanho rekutanga dhiraivha (\(N)\\\\\\\\\\\\\\\\\)\\\\\\)yeyo yekutanga (\(N) x\\ Del (x) x uye \(\ alpha _1\) iri \(\ alpha \) sezvinoratidzwa mumufananidzo 8, nekusiyanisa nguva kubva kuEquation (11) nekutsiva kukosha kwe l, chiyero chekutambudzika chinogona kunyorwa se:
apo \(l_0\) ndiyo kureba kwekutanga kwetambo yeSMA, l ndihwo hurefu hwewaya chero nguva t mubazi rimwechete risinganzwisisike, \(\epsilon\) ndiko deformation yakagadzirwa muSMA waya, uye \(\ alpha \) ndiyo angle yekona yekona, \(\Delta x\) ndiyo drive offset (sezvinoratidzwa mumufananidzo 8).
Ese n single-peak zvimiro (\(n=6\) mumufananidzo uyu) akabatana munhevedzano ne\(V_{in}\) semagetsi ekuisa.Danho I: Schematic diagram yeSMA wire mu bimodal configuration pasi pe zero voltage mamiriro Danho II: Chimiro chinodzorwa chinoratidzwa apo SMA wire inotsikirirwa nekuda kwekushanduka kwekushandura, sezvinoratidzwa nemutsara mutsvuku.
Sehumbowo hwepfungwa, SMA-based bimodal drive yakagadziridzwa kuti iedze mabviro akateedzerwa eiyo equation yepasi nemhedzisiro yekuedzwa.Iyo CAD modhi yeiyo bimodal linear actuator inoratidzwa mufig.9a.Ukuwo, muonde.9c inoratidza dhizaini nyowani yakarongedzerwa kutenderera kweprismatic yekubatanidza uchishandisa maviri-ndege SMA-based actuator ine bimodal chimiro.Izvo zvikamu zvekutyaira zvakagadzirwa uchishandisa yekuwedzera kugadzira pane Ultimaker 3 Yakawedzerwa 3D printer.Izvo zvinoshandiswa pakudhinda kwe 3D kwezvikamu ndeye polycarbonate iyo inokodzera zvinhu zvinopisa kupisa sezvo yakasimba, yakasimba uye ine tembiricha yepamusoro yegirazi (110-113 \(^{\circ }\) C).Mukuwedzera, Dynalloy, Inc. Flexinol shape memory alloy wire yakashandiswa mukuedza, uye zvinhu zvezvinhu zvinoenderana neFlexinol wire zvakashandiswa mukufananidza.Mawaya akawanda eSMA anorongedzerwa semafibhi anowanikwa mune bimodal kurongeka kwemisungo kuti awane masimba akakwira anogadzirwa neakawanda anogadzira, sezvakaratidzwa mumufananidzo 9b, d.
Sezvinoratidzwa muMufananidzo 9a, iyo acute angle inoumbwa neruoko runofambiswa SMA waya inonzi kona (\(\ alpha\)).Iine materminal clamps akasungirirwa kuruboshwe nekurudyi masimbi, iyo SMA waya inobatwa painodiwa bimodal angle.Iyo bias chitubu chishandiso chakabatwa pachitubu chekubatanidza chakagadzirirwa kugadzirisa akasiyana bias chitubu chekuwedzera mapoka zvichienderana nenhamba (n) yeSMA fibers.Mukuwedzera, nzvimbo yezvikamu zvinofamba zvakagadzirirwa kuitira kuti SMA waya ionekwe kune yekunze nharaunda yekumanikidzirwa convection kutonhora.Mahwendefa epamusoro uye epasi egungano rinobvisika anobatsira kuchengeta waya yeSMA ichitonhorera neakachekwa akachekwa akagadzirirwa kuderedza uremu.Pamusoro pezvo, migumo yese yeCMA waya inonamirwa kuruboshwe uye kurudyi zviteshi, zvichiteerana, nenzira yecrimp.Plunger inosungirirwa kune imwe mugumo wegungano rinofambiswa kuchengetedza kubvumidzwa pakati pepamusoro nepasi ndiro.Iyo plunger inoshandiswawo kuisa simba rekuvhara kune sensor kuburikidza nekubata kuyera simba rekuvharira kana SMA waya yaitwa.
Iyo bimodal tsandanyama chimiro SMA yakabatana nemagetsi munhevedzano uye inofambiswa neinopinza pulse voltage.Munguva yevoltage pulse cycle, kana magetsi akaiswa uye waya yeSMA inopisa pamusoro pekutanga tembiricha yeaustenite, kureba kwewaya mutambo yega yega inopfupikiswa.Uku kudzoreredza kunomutsa iyo inofambiswa ruoko subassembly.Apo magetsi akaiswa zero mukutenderera kumwe chete, waya inopisa yeSMA yakatonhodzwa pasi pekushisa kwepamusoro pemartensite, nekudaro ichidzokera panzvimbo yayo yepakutanga.Pasi pe zero kushushikana mamiriro, iyo SMA waya inotanga yakatambanudzwa zvishoma neyakarerekera chitubu kuti isvike iyo detwinned martensitic state.Iyo screw, kuburikidza iyo iyo SMA waya inopfuura, inofamba nekuda kwekumanikidza kwakagadzirwa nekuisa voltage pulse kune SMA waya (SPA inosvika padanho reaustenite), inotungamira kune actuation yeinofamba lever.Kana iyo SMA waya yadzoserwa, chitubu chekurerekera chinogadzira simba rinopikisa nekuwedzera kutambanudza chitubu.Kana kushushikana kuri mumhepo yemhepo kukava zero, waya yeSMA inorebesa uye inoshandura chimiro chayo nekuda kwekumanikidzwa kutonhora kutonhora, ichisvika paviri martensitic chikamu.
Iyo yakatsanangurwa SMA-yakavakirwa mutsara actuator sisitimu ine bimodal gadziriso umo maSMA waya anokwizwa.(a) inoratidzira modhi yeCAD yeiyo prototype, inotaura zvimwe zvezvikamu uye zvazvinoreva zveiyo prototype, (b, d) inomiririra yakagadziridzwa yekuyedza prototype35.Nepo (b) inoratidza tarisiro yepamusoro peiyo prototype ine magetsi ekubatanidza uye bias springs uye strain geji anoshandiswa, (d) inoratidza maonero ekuseta.(e) Dhiagiramu yemutsara actuation system ine SMA waya dzakaiswa bimodally chero nguva t, ichiratidza gwara uye kosi yefiber uye simba remhasuru.(c) A 2-DOF inotenderera prismatic yekubatanidza yakakurudzirwa kuendesa maviri-ndege SMA-based actuator.Sezvinoratidzwa, chinongedzo chinofambisa mutsara kufamba kubva pazasi drive kuenda kumusoro ruoko, kugadzira chinotenderera chinotenderera.Kune rumwe rutivi, kufamba kwepairi yeprisms kwakafanana nekufamba kwe multilayer first stage drive.
Chidzidzo chekuedza chakaitwa pane prototype inoratidzwa muFig. 9b kuti iongorore kushanda kwebhimodal drive inobva paSMA.Sezvinoratidzwa muMufananidzo 10a, iyo yekumisikidza setup yaisanganisira inorongeka DC magetsi ekupa magetsi ekuisa kuSMA waya.Sezvinoratidzwa mufig.10b, piezoelectric strain gauge (PACEline CFT/5kN) yakashandiswa kuyera simba rekuvharisa uchishandisa Graphtec GL-2000 data logger.Iyo data inorekodhwa nemugadziri kuti awedzere kudzidza.Mageji ekumanikidza uye maamplifiers ekuchajisa anoda kugara achipihwa magetsi kugadzira chiratidzo chevoltage.Zviratidzo zvinopindirana zvinoshandurwa kuva zvigadzirwa zvemasimba maererano nekunzwa kwepiezoelectric force sensor uye mamwe mapeji sezvinotsanangurwa muTebhu 2. Kana kuputika kwemhepo kunoshandiswa, kutonhora kweSMA wire kunowedzera, zvichiita kuti SMA wire inomesa, izvo zvinoita kuti actuator iite simba.Mhedzisiro yekubuda kwesimba remhasuru neinopinza voltage pulse ye7 V inoratidzwa mufig.2a.
(a) Iyo SMA-yakavakirwa mutsara actuator sisitimu yakamiswa mukuyedza kuyera simba rinogadzirwa neanoridza.Sero rinotakura rinoyera simba rekuvhara uye rinoshandiswa ne 24 V DC magetsi.Kudonha kwe7 V voltage kwakaiswa pahurefu hwese kwetambo uchishandisa GW Instek programmable DC magetsi.Iyo SMA waya inodzikira nekuda kwekupisa, uye ruoko runofambiswa runobata sero rinotakura uye rinoshandisa simba rinovharira.Iyo sero yekutakura yakabatana neGL-2000 data logger uye data inochengetwa pane iyo host kuti iwedzere kugadziriswa.(b) Dhiagiramu inoratidza cheni yezvikamu zveyedzo yekumisikidza yekuyera simba remhasuru.
Shape memory alloys inonakidzwa nesimba rekupisa, saka tembiricha inova yakakosha parameter yekudzidza chimiro chendangariro chiitiko.Kuedza, sezvakaratidzwa muFig. 11a, kufungidzira kwekushisa uye kuyerwa kwekushisa kwakaitwa pane prototype SMA-based divalerate actuator.A programmable DC sosi yakaisa magetsi ekuisa kuSMA waya muyedzo yekuseta, sezvakaratidzwa mumufananidzo 11b.Shanduko yetembiricha yeSMA waya yakayerwa munguva chaiyo uchishandisa yakakwirira resolution LWIR kamera (FLIR A655sc).Iyo saiti inoshandisa iyo ResearchIR software kurekodha data kune imwe post-kugadzirisa.Kana voltage pulse ikaiswa, tembiricha yeSMA waya inowedzera, zvichiita kuti SMA waya iderere.Pamusoro pemuonde.Mufananidzo 2b unoratidza mhedzisiro yekuyedza yeSMA waya tembiricha maringe nenguva ye7V yekupinza voltage pulse.