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MaActuator anoshandiswa kwese kwese uye anogadzira kufamba kwakadzorwa nekushandisa simba rekumutsa kana torque chaiyo kuita mabasa akasiyana-siyana mukugadzira uye otomatiki yemaindasitiri. Kudiwa kwemadhiraivha anokurumidza, madiki uye anoshanda zviri nani ndiko kuri kukurudzira hunyanzvi mukugadzira madhiraivha. Madhiraivha eShape Memory Alloy (SMA) anopa mabhenefiti akati wandei pamusoro pemadhiraivha akajairwa, kusanganisira chiyero chepamusoro chesimba-ku-huremu. Muchinyorwa chino, actuator ine mapapiro maviri yakagadzirwa neSMA inosanganisa mabhenefiti emhasuru dzefeathery dzemasystem ezvipenyu uye hunhu hwakasiyana hweSMA. Chidzidzo ichi chinoongorora uye chinotambanudza maSMA actuator ekare nekugadzira modhi yemasvomhu yeactuator itsva zvichibva pahurongwa hwewaya hweSMA hwebimodal uye kuiedza nekuyedza. Zvichienzaniswa nemadhiraivha anozivikanwa zvichibva paSMA, simba rekushanda redhiraivha itsva rakakwira kanenge kashanu (kusvika ku150 N). Kurasikirwa nehuremu kwakafanana kunenge 67%. Mhedzisiro yekuongorora kwekunzwa kwemamodheru emasvomhu inobatsira pakugadzirisa maparamita ekugadzira uye kunzwisisa maparamita akakosha. Chidzidzo ichi chinopawo multi-level Nth stage drive inogona kushandiswa kuwedzera dynamics. Zvishandiso zveSMA zvinoshandisa muscle dipvalerate zvine mashandisirwo akasiyana-siyana, kubva pakuvaka otomatiki kusvika kumasystem ekupa mishonga nemazvo.
Masisitimu ezvipenyu, akadai semaumbirwo emhasuru dzemhuka dzinoyamwisa, anogona kumutsa ma actuators akawanda asina kusimba1. Mhuka dzinoyamwisa dzine maumbirwo akasiyana emhasuru, imwe neimwe ichishandira chinangwa chayo. Zvisinei, chimiro chikuru chenyama yemhasuru dzemhuka dzinoyamwisa chinogona kukamurwa kuita mapoka maviri akafara. Parallel nepennate. Muma hamstrings nedzimwe flexors, sezvinoratidzwa nezita racho, mhasuru dzakafanana dzine mhasuru dzakafanana ne central tendon. Cheni yemhasuru dzakarongwa uye dzakabatana ne connective tissue dzakadzipoteredza. Kunyangwe mhasuru idzi dzichinzi dzine excursion yakakura (percentage shortening), simba radzo remhasuru rose rakaganhurirwa. Kusiyana neizvi, mu triceps calf muscle2 (lateral gastrocnemius (GL)3, medial gastrocnemius (GM)4 ne soleus (SOL)) uye extensor femoris (quadriceps)5,6 pennate muscle tissue inowanikwa mumhasuru yega yega7. Mu pinnate structure, mhasuru dziri mu bipennate musculature dziripo kumativi ese e central tendon pa oblique angles (pinnate angles). Pennate inobva pashoko rechiLatini rekuti "penna", rinoreva "peni", uye, sezvakaratidzwa pamufananidzo 1 ine chitarisiko chakaita seminhenga. Fibre dzemhasuru dzepennate dzakapfupika uye dzakakombama kumucheto wemhasuru. Nekuda kwechimiro chepinnate, kufamba kwemhasuru idzi kunoderedzwa, izvo zvinotungamira kuzvikamu zvinochinjika uye zverefu zvemaitiro ekupfupisa. Kune rumwe rutivi, kushanda kwemhasuru idzi kunotungamira kusimba remhasuru rose nekuda kwenzira iyo nzvimbo yemuviri inochinjika inoyerwa nayo. Naizvozvo, kune imwe nzvimbo yechikamu chakatarwa, tsandanyama dzepennate dzichava dzakasimba uye dzichagadzira masimba akakwira kupfuura tsandanyama dzine fiber dzakafanana. Masimba anogadzirwa nefiber imwe neimwe anogadzira masimba emhasuru padanho guru munyama iyoyo yemhasuru. Pamusoro pezvo, ine hunhu hwakasiyana hwakadai sekupfupika nekukurumidza, dziviriro kubva mukukuvadzwa kwekumanikidzwa, kutsvinda. Inoshandura hukama huripo pakati pefayibha inopinza uye simba remhasuru nekushandisa hunhu hwakasiyana uye kuoma kwejometri kwehurongwa hwefiber hunobatanidzwa nemitsetse yetsandanyama yekushanda.
Zvinoratidzwa madhayagiramu ezvirongwa zveSMA-based actuator designs dziripo maererano ne bimodal muscular architecture, semuenzaniso (a), zvichimiririra kubatana kwesimba rekubata umo mudziyo wakaita seruoko unofambiswa newaya dzeSMA unoiswa parobot inofambiswa ine mavhiri maviri9,10. , (b) Robotic orbital prosthesis ine SMA spring-loaded orbital prosthesis. Nzvimbo yeziso rekugadzira inodzorwa nechiratidzo kubva mutsandanyama yeziso11, (c) SMA actuators dzakanakira kushandiswa pasi pemvura nekuda kwe high frequency response yavo uye low bandwidth. Muchimiro ichi, maSMA actuators anoshandiswa kugadzira kufamba kwemafungu nekutevedzera kufamba kwehove, (d) maSMA actuators anoshandiswa kugadzira robhoti rekuongorora mapipe madiki rinogona kushandisa musimboti wekufamba kwehonye ye inch, rinodzorwa nekufamba kwewaya dzeSMA mukati mechiteshi 10, (e) rinoratidza kutungamira kwefibers dzemhasuru dzinobata uye rinogadzira simba rekubata mudumbu re gastrocnemius, (f) rinoratidza waya dzeSMA dzakarongwa muchimiro chefibers dzemhasuru muchimiro chemhasuru dzinopinda.
MaActuator ave chikamu chakakosha chemasisitimu emakanika nekuda kwekushandiswa kwawo kwakasiyana-siyana. Nokudaro, kudiwa kwemadhiraivha madiki, anokurumidza uye anoshanda zvakanyanya kwave kwakakosha. Pasinei nezvakanaka zvawo, madhiraivha echinyakare aratidza kuti anodhura uye anotora nguva kuchengetedza. MaHydraulic nepneumatic actuators akaoma uye anodhura uye anogona kusakara, matambudziko ekuzora uye kutadza kwezvikamu. Mukupindura kudiwa, chinangwa chiri pakugadzira maactuator asingadhuri, akagadziriswa saizi uye epamusoro zvichibva pazvinhu zvakangwara. Tsvagiridzo iri kuenderera mberi iri kutarisa maactuator ane layered shape memory alloy (SMA) kuti agutse chinodiwa ichi. Maactuator ehierarchical akasiyana nekuti anosanganisa maactuator akawanda akasiyana mugeometrically complex macro scale subsystems kuti ape kushanda kwakawedzerwa uye kwakawedzerwa. Panyaya iyi, nyama dzemudumbu dzevanhu dzakatsanangurwa pamusoro apa dzinopa muenzaniso wakanaka kwazvo we multilayered actuation yakadaro. Chidzidzo chazvino chinotsanangura multi-level SMA drive ine zvinhu zvakasiyana-siyana zve drive (SMA waya) zvakaenderana nefiber orientations dziripo mu bimodal muscle, izvo zvinovandudza mashandiro e drive.
Chinangwa chikuru che actuator ndechekugadzira simba remagetsi rinobuda sesimba uye kuchinjika nekushandura simba remagetsi. Ma alloys ekurangarira chimiro imhando yezvinhu "zvakangwara" zvinogona kudzorera chimiro chazvo pakupisa kwakanyanya. Pasi pemitoro yakakwira, kuwedzera kwekupisa kwewaya yeSMA kunotungamira mukudzoreredzwa kwechimiro, zvichikonzera kuwanda kwesimba remagetsi zvakanyanya zvichienzaniswa nezvinhu zvakasiyana-siyana zvakabatana zvakananga. Panguva imwe chete, pasi pemitoro yemagetsi, maSMA anova asina kusimba. Pasi pemamwe mamiriro ezvinhu, mutoro wecyclic unogona kutora nekuburitsa simba remagetsi, zvichiratidza shanduko dzechimiro dzinodzoreka. Izvi zvinhu zvakasiyana zvinoita kuti SMA ive yakakodzera kune masensa, vibration damping uye kunyanya ma actuator12. Tichifunga izvi, kwave nekutsvagurudza kwakawanda mumadhiraivha akavakirwa paSMA. Zvinofanira kucherechedzwa kuti ma actuator akavakirwa paSMA akagadzirwa kuti ape mafambiro ekushandura uye kutenderera kune akasiyana mashandisirwo13,14,15. Kunyangwe mamwe ma actuator anotenderera akagadzirwa, vaongorori vanofarira zvikuru ma linear actuators. Aya ma linear actuators anogona kukamurwa kuita mhando nhatu dze actuators: one-dimensional, displacement uye differential actuators16. Pakutanga, madhiraivha ehybrid akagadzirwa pamwe chete neSMA nedzimwe madhiraivha akajairwa. Muenzaniso wakadaro weSMA-based hybrid linear actuator kushandiswa kwewaya yeSMA ine mota yeDC kupa simba rekuburitsa rinosvika 100 N uye displacement yakakosha17.
Imwe yenzira dzekutanga dzakagadzirwa mumadhiraivha akavakirwa paSMA yaive SMA parallel drive. Ichishandisa waya dzakawanda dzeSMA, SMA-based parallel drive yakagadzirirwa kuwedzera kugona kwesimba redhiraivha nekuisa waya dzese dzeSMA18 dzakafanana. Kubatana kwema actuator kwakafanana hakungodi simba rakawanda chete, asiwo kunoderedza simba rekubudisa kwewaya imwe chete. Chimwe chakaipa chema actuator akavakirwa paSMA ndechekuti kufamba kwavanogona kuita kwakaderera. Kugadzirisa dambudziko iri, danda reSMA cable rakagadzirwa rine danda rinochinjika rakatsauka kuti riwedzere kutama uye kuwana kufamba kwakanangana, asi harina kugadzira masimba akakwira19. Maumbirwo akapfava uye machira emarobhoti akavakirwa pa alloys echimiro zvakagadzirwa zvakanyanya kuti awedzere simba20,21,22. Kune mashandisirwo apo kumhanya kwakanyanya kunodiwa, mapombi anofambiswa ne compact akataurwa achishandisa thin film SMAs kune micropump drived applications23. Kufambiswa kwe thin film SMA membrane chinhu chakakosha mukudzora kumhanya kwemutyairi. Naizvozvo, SMA linear motors dzine mhinduro iri nani kupfuura SMA spring kana rod motors. Marobhoti manyoro uye tekinoroji yekubata zvimwe zvinhu zviviri zvinoshandisa maactuator akavakirwa paSMA. Semuenzaniso, kutsiva actuator yakajairika inoshandiswa mu 25 N space clamp, shape memory alloy parallel actuator 24 yakagadzirwa. Mune imwe nyaya, SMA soft actuator yakagadzirwa zvichibva pawaya ine matrix yakavharirwa inokwanisa kugadzira simba rekudhonza repamusoro re30 N. Nekuda kwehunhu hwayo hwemakanika, maSMA anoshandiswawo kugadzira maactuator anotevedzera zviitiko zvebhayoloji. Imwe yekuvandudza kwakadaro inosanganisira robhoti ine masero gumi nemaviri iyo iri biomimetic yechinhu chakafanana nehonye yepasi ine SMA yekugadzira kufamba kwe sinusoidal kuenda ku fire26,27.
Sezvambotaurwa, pane muganho wesimba guru rinogona kuwanikwa kubva kuma actuator aripo eSMA. Kuti tigadzirise dambudziko iri, chidzidzo ichi chinoratidza chimiro chemhasuru yebimodal. Chinotungamirirwa newaya ye alloy yechimiro. Chinopa sisitimu yekupatsanura inosanganisira waya dzakawanda dze alloy yechimiro. Kusvika pari zvino, hapana ma actuator eSMA ane dhizaini yakafanana akataurwa mumabhuku. Iyi sisitimu yakasiyana uye itsva yakavakirwa paSMA yakagadzirwa kuti idzidze maitiro eSMA panguva yekurongeka kwemhasuru yebimodal. Zvichienzaniswa nema actuator aripo eSMA, chinangwa chechidzidzo ichi chaive chekugadzira actuator ye bimimetic dipvalerate kuti igadzire masimba akakwira zvakanyanya muhuwandu hudiki. Zvichienzaniswa nemadhiraivha emota anofambiswa ne stepper anoshandiswa muHVAC building automation uye control systems, dhizaini ye bimodal drive yeSMA inoderedza huremu hwe drive mechanism ne67%. Muzvinotevera, mazwi ekuti "mhasuru" uye "drive" anoshandiswa achichinjana. Chidzidzo ichi chinoongorora multiphysics simulation ye drive yakadaro. Maitiro e mechanical emasisitimu akadaro akadzidzwa nenzira dzekuedza uye dzekuongorora. Kugoverwa kwesimba nekupisa kwakaongororwazve pamagetsi ekupinda e7 V. Zvadaro, ongororo yeparametric yakaitwa kuti inzwisise zviri nani hukama huripo pakati pema parameter akakosha nesimba rinobuda. Pakupedzisira, ma actuator ehierarchical akafungidzirwa uye mhedzisiro yemazinga ehierarchical yakakurudzirwa senzvimbo inogona kuvepo mune ramangwana kune ma actuator asiri emagineti ekushandisa ma prosthetic. Zvichienderana nemhedzisiro yezvidzidzo zvataurwa pamusoro apa, kushandiswa kwechimiro chechikamu chimwe chete kunoita kuti masimba apfuure kanenge ka4 kusvika kashanu pane ma actuator akavakirwa paSMA. Pamusoro pezvo, simba rekutyaira rimwechete rinogadzirwa ne multi-level multi-level drive rakaratidzwa kuti rinopfuura kagumi pane madhiraivha eSMA-based akajairika. Chidzidzo ichi chinozoshuma ma parameter akakosha uchishandisa kuongorora kwekunzwa pakati pemagadzirirwo akasiyana uye zvinochinja-chinja zvekupinda. Kureba kwekutanga kwewaya yeSMA (\(l_0\)), pinnate angle (\(\alpha\)) uye huwandu hwetambo imwe chete (n) mutambo yega yega ine mhedzisiro yakaipa pahukuru hwesimba rekufambisa, nepo voltage yekupinda (simba) yakazoonekwa kuti yakabatana zvakanaka.
Waya yeSMA inoratidza chimiro chekurangarira chimiro (SME) chinoonekwa mumhuri ye nickel-titanium (Ni-Ti) ye alloys. Kazhinji, maSMA anoratidza zvikamu zviviri zvinoenderana nekupisa: chikamu chekupisa kwakaderera uye chikamu chekupisa kwakakwira. Zvikamu zvese izvi zvine hunhu hwakasiyana nekuda kwekuvapo kwezvimiro zvakasiyana zvekristaro. Muchikamu che austenite (chikamu chekupisa kwakakwira) chiri pamusoro pekupisa kwekushanduka, chinhu chacho chinoratidza simba rakawanda uye hachina kusimba zvakanaka pasi pemutoro. Chiumbwa ichi chinoita sesimbi isina ngura, saka chinokwanisa kutsungirira kumanikidzwa kwakakwira. Chichishandisa hunhu uhwu hwe alloys dzeNi-Ti, waya dzeSMA dzakatsveyama kuti dzigadzire actuator. Mhando dzakakodzera dzekuongorora dzakagadzirwa kuti dzinzwisise mashandiro ekutanga ehunhu hwekupisa hweSMA pasi pesimba rema parameter akasiyana uye geometries dzakasiyana. Kubvumirana kwakanaka kwakawanikwa pakati pemhedzisiro yekuedza nekuongorora.
Chidzidzo chekuedza chakaitwa pamuenzaniso wakaratidzwa paMufananidzo 9a kuti vaongorore mashandiro edhiraivha yebimodal zvichibva paSMA. Zviviri zvezvimiro izvi, simba rinogadzirwa nedhiraivha (simba remhasuru) uye tembiricha yewaya yeSMA (tembiricha yeSMA), zvakayerwa nenzira yekuedza. Sezvo musiyano wevoltage uchiwedzera pamwero wese wewaya iri mudhiraivha, tembiricha yewaya inowedzera nekuda kweJoule heating effect. Voltage yekupinda yakashandiswa muma cycles maviri e10-s (anoratidzwa semadotsi matsvuku muMufananidzo 2a, b) nenguva yekutonhorera yemasekondi gumi nemashanu pakati pedenderedzwa rega rega. Simba rekuvharira rakayerwa uchishandisa piezoelectric strain gauge, uye kugoverwa kwetembiricha yewaya yeSMA kwakatariswa munguva chaiyo uchishandisa kamera yesainzi-grade high-resolution LWIR (ona hunhu hwemidziyo inoshandiswa muTafura 2). inoratidza kuti panguva yedanho repamusoro revoltage, tembiricha yewaya inowedzera zvishoma nezvishoma, asi kana pasina magetsi ari kuyerera, tembiricha yewaya inoramba ichiderera. Mukuyedza kuri kuitwa pari zvino, tembiricha yewaya yeSMA yakaderera panguva yekutonhora, asi yakanga ichiri pamusoro petembiricha yemhepo. Pamufananidzo 2e inoratidza mufananidzo wetembiricha pawaya yeSMA yakatorwa kubva kuLWIR kamera. Kune rumwe rutivi, pamufananidzo 2a panoratidza simba rekuvhara rinogadzirwa nedhiraivha system. Kana simba remhasuru rinopfuura simba rekudzorera rechitubu, ruoko runofambika, sezvakaratidzwa paMufananidzo 9a, runotanga kufamba. Pakangotanga kushanda, ruoko runofambika runosangana nesensor, zvichigadzira simba remuviri, sezvakaratidzwa pamufananidzo 2c, d. Kana tembiricha yepamusoro iri pedyo ne \(84\,^{\circ}\hbox {C}\), simba guru rinoonekwa i105 N.
Girafu rinoratidza mhedzisiro yekuyedza yekupisa kwewaya yeSMA uye simba rinogadzirwa neSMA-based bimodal actuator panguva mbiri. Voltage yekupinda inoshandiswa muzvikamu zviviri zvemasekondi gumi (zvinoratidzwa semadotsi matsvuku) nenguva yekudzika kwemasekondi gumi nemashanu pakati pechikamu chimwe nechimwe. Waya yeSMA yakashandiswa pakuyedza yaive waya yeFlexinol yedhayamita ye0.51 mm kubva kuDynalloy, Inc. (a) Girafu rinoratidza simba rekuyedza rakawanikwa muzvikamu zviviri, (c, d) rinoratidza mienzaniso miviri yakazvimiririra yekushanda kweactuators dzemaoko anofamba paPACEline CFT/5kN piezoelectric force transducer, (b) girafu rinoratidza tembiricha yepamusoro yewaya yese yeSMA panguva mbiri, (e) rinoratidza mufananidzo wetembiricha wakatorwa kubva pawaya yeSMA uchishandisa kamera yeFLIR ResearchIR software LWIR. Maparamita ejometri akatariswa mukuyedza anopiwa muTafura yekutanga.
Mhedzisiro yekutevedzera yemuenzaniso wemasvomhu nemigumisiro yekuyedza inoenzaniswa pasi pemamiriro emagetsi ekupinda e7V, sezvakaratidzwa muMufananidzo 5. Zvichienderana nemhedzisiro yekuongororwa kweparametric uye kudzivirira mukana wekupisa kwewaya yeSMA, simba re11.2 W rakapihwa kuactuator. Simba reDC rinogona kurongwa rakashandiswa kupa 7V semagetsi ekupinda, uye magetsi e1.6A akayerwa pawaya yese. Simba rinogadzirwa nedhiraivha uye tembiricha yeSDR inowedzera kana magetsi ashandiswa. Nemagetsi ekupinda e7V, simba guru rekuburitsa rinowanikwa kubva mumhedzisiro yekutevedzera uye mhedzisiro yekuyedza yekutanga i78 N uye 96 N, zvichiteerana. Muchikamu chechipiri, simba guru rekuburitsa remhedzisiro yekutevedzera uye yekuedza raive 150 N uye 105 N, zvichiteerana. Musiyano uripo pakati pekuyerwa kwesimba rekuvharika nedata rekuyedza unogona kunge uri nekuda kwenzira inoshandiswa kuyera simba rekuvharika. Mhedzisiro yekuyedza inoratidzwa mumufananidzo. 5a inoenderana nekuyerwa kwesimba rekukiya, iro rakazoyerwawo apo shaft yekutyaira yaisangana nePACEline CFT/5kN piezoelectric force transducer, sezvakaratidzwa mumufananidzo 2s. Saka, kana shaft yekutyaira isiri kusangana nesensor yesimba pakutanga kwenzvimbo yekutonhodza, simba racho rinobva rava zero, sezvakaratidzwa muMufananidzo 2d. Pamusoro pezvo, mamwe ma parameter anokanganisa kuumbwa kwesimba muma cycles anotevera ndiwo ma values ​​​​enguva yekutonhodza uye coefficient ye convective heat transfer mu cycle yapfuura. Kubva pamufananidzo 2b, zvinogona kuonekwa kuti mushure menguva yekutonhodza kwemasekondi gumi nemashanu, waya yeSMA haina kusvika patembiricha yemukamuri uye nekudaro yaive netembiricha yekutanga yakakwira (\(40\,^{\circ }\hbox {C}\)) mu cycle yechipiri yekutyaira zvichienzaniswa ne cycle yekutanga (\(25\, ^{\circ}\hbox {C}\)). Saka, zvichienzaniswa nedanho rekutanga, tembiricha yewaya yeSMA panguva yedanho rechipiri rekupisa inosvika patembiricha yekutanga yeaustenite (\(A_s\)) kare uye inogara munguva yekuchinja kwenguva yakareba, zvichikonzera kushushikana nesimba. Kune rumwe rutivi, kugoverwa kwetembiricha panguva yekudziisa nekutonhodza kunowanikwa kubva mukuyedza uye simulations kune kufanana kwakanyanya nemienzaniso kubva mukuongorora kwethermographic. Kuenzanisa ongororo yedata rekupisa waya yeSMA kubva mukuyedza uye simulations kwakaratidza kuenderana panguva yekudziisa nekutonhodza kutenderera uye mukati mekutsungirira kunogamuchirika kwedata rekuyedza. Tembiricha yepamusoro yewaya yeSMA, yakawanikwa kubva mumhedzisiro yesimulation uye kuyedza kwedanho rekutanga, ndeye \(89\,^{\circ }\hbox {C}\) uye \(75\,^{\circ }\hbox {C }\, zvichiteerana ), uye mudanho rechipiri tembiricha yepamusoro yewaya yeSMA ndeye \(94\,^{\circ }\hbox {C}\) uye \(83\,^{\circ }\ hbox {C}\). Modhi yakagadzirwa zvakasimba inosimbisa mhedzisiro yemhedzisiro yekurangarira chimiro. Basa rekuneta uye kupisa zvakanyanya harina kufungwa nezvaro muongororo iyi. Mune ramangwana, modhi iyi ichavandudzwa kuti isanganise nhoroondo yekushushikana kwewaya yeSMA, zvichiita kuti ive yakakodzera kushandiswa kwemainjiniya. Simba rekuburitsa drive uye maSMA tembiricha plots akawanikwa kubva kuSimulink block ari mukati memvumo inobvumidzwa yedata rekuyedza pasi pemamiriro ekupisa kwevoltage ye7 V. Izvi zvinosimbisa kururama uye kuvimbika kwemodhi yemasvomhu yakagadzirwa.
Muenzaniso wemasvomhu wakagadzirwa munzvimbo yeMathWorks Simulink R2020b uchishandisa ma equation ekutanga anotsanangurwa muchikamu cheMethods. Pamufananidzo 3b panoratidza dhayagiramu yebhuroko remuenzaniso wemasvomhu weSimulink. Muenzaniso wacho wakagadzirwa kuti uwane 7V input voltage pulse sezvakaratidzwa paMufananidzo 2a, b. Makoshero ema parameter anoshandiswa mukutevedzera akanyorwa muTafura 1. Mhedzisiro yekutevedzera maitiro enguva pfupi inoratidzwa muMifananidzo 1 ne1. Mifananidzo 3a ne4. Mumufananidzo 4a, b inoratidza voltage induced muSMA wire uye simba rinogadzirwa ne actuator sebasa renguva. Munguva yekuchinja kwe reverse (kupisa), kana tembiricha yeSMA wire, \(T < A_s^{\prime}\) (stress-modified austenite phase start tembiricha), mwero wekuchinja kwe martensite volume fraction (\(\dot{\xi }\)) ichava zero. Munguva yekuchinja kwe reverse (kudziyisa), kana tembiricha yeSMA wire, \(T < A_s^{\prime}\) (stress-modified austenite phase start tembiricha), mwero wekuchinja kwe martensite volume fraction (\(\dot{\ xi }\)) ichava zero. Во время обратного превращения (нагрева), когда температура проволоки SMA, \(T < A_s^{\prime}\) (температура начала аустенитной модинция напряжением), скорость изменения объемной доли мартенсита (\(\dot{\ xi }\)) будет равно нулю. Munguva yekuchinja kwe reverse (kupisa), kana tembiricha yewaya yeSMA, \(T < A_s^{\prime}\) (tembiricha yekutanga ye austenite yakachinja-chinja), mwero wekuchinja kwechikamu chevhoriyamu yemartensite (\(\dot{\ xi }\ )) uchava zero.在反向转变（加热）过程中，当SMA 线温度\(T < A_s^{\prime}\))（应力修正奥氏体相起始温度）时，马氏体积分数的变化率（\(\xi}\)为默\(\xi}\)在 反向 转变 （加热） 中, 当 当 线 温度 \ (t При обратном превращении (нагреве) при температуре проволоки СПФ \(T Munguva yekuchinja kwe reverse (kupisa) patembiricha yeSMA wire \(T < A_s^{\prime}\) (tembiricha ye nucleation ye austenite phase, yakagadziriswa kushushikana), mwero wekuchinja muchikamu chevhoriyamu che martensite (\( \dot{\ xi }\)) ichave yakaenzana ne zero.Saka, mwero wekuchinja kwestress (\(\dot{\sigma}\)) unoenderana ne strain rate (\(\dot{\epsilon}\)) uye temperature gradient (\(\dot{T} \) ) chete nekushandisa equation (1). Zvisinei, sezvo SMA wire ichiwedzera mutembiricha uye ichiyambuka (\(A_s^{\prime}\)), austenite phase inotanga kuumbwa, uye (\(\dot{\xi}\)) inotorwa seyakapihwa kukosha kwe equation ( 3 ). Saka, mwero wekuchinja kwevoltage (\(\dot{\sigma}\)) unodzorwa pamwe chete ne \(\dot{\epsilon}, \dot{T}\) uye \(\dot{\xi}\) zvakaenzana neyakapihwa mufomura (1). Izvi zvinotsanangura shanduko dze gradient dzinoonekwa muma stress anosiyana-siyana uye ma force maps panguva yekupisa, sezvakaratidzwa muFig. 4a, b.
(a) Mhedzisiro yekufananidzira inoratidza kugoverwa kwetembiricha uye tembiricha yejunction inokonzerwa nekumanikidzwa muSMA-based divalerate actuator. Kana tembiricha yewaya ikayambuka tembiricha yekuchinja kweaustenite muchikamu chekudziya, tembiricha yekuchinja kweaustenite yakachinjwa inotanga kuwedzera, uye saizvozvo, kana tembiricha yetambo yewaya ikayambuka tembiricha yekuchinja kwemartensitic muchikamu chekutonhora, tembiricha yekuchinja kwemartensitic inoderera. SMA yekuongorora modhi yemaitiro ekushanda. (Kuti uwane maonero akadzama e subsystem yega yega yeSimulink model, ona chikamu cheappendix chefaira rekuwedzera.)
Mhedzisiro yekuongorora kwekugoverwa kwema parameter akasiyana inoratidzwa pama cycle maviri e 7V input voltage (10 seconds warm up cycles uye 15 seconds cool down cycles). Kunyange zvazvo (ac) na (e) vachiratidza kugoverwa nekufamba kwenguva, kune rumwe rutivi, (d) na (f) vachiratidza kugoverwa netembiricha. Kune mamiriro ekupinda akakodzera, kushushikana kwakanyanya kunoonekwa i106 MPa (pasi pe 345 MPa, simba re wire yield), simba i150 N, displacement yepamusoro i270 µm, uye chidimbu chidiki che martensitic volume i0.91. Kune rumwe rutivi, shanduko mukumanikidzwa nekushanduka kwechikamu chema volume che martensite netembiricha zvakafanana nehunhu hwe hysteresis.
Tsananguro imwecheteyo inoshanda pakuchinja kwakananga (kutonhodza) kubva pachikamu cheaustenite kuenda pachikamu chemartensite, uko tembiricha yeSMA wire (T) uye tembiricha yekupedzisira yechikamu chemartensite chakagadziriswa nestress (\(M_f^{\prime}\ )) zvakanaka kwazvo. Pamufananidzo 4d,f inoratidza shanduko mukumanikidzwa kwakakonzerwa (\(\sigma\)) uye chikamu chevhoriyamu chemartensite (\(\xi\)) muwaya yeSMA sebasa rekuchinja kwetembiricha yewaya yeSMA (T), yematanho ese ari maviri ekutyaira. Pamufananidzo 3a inoratidza shanduko mutembiricha yewaya yeSMA nenguva zvichienderana nekupisa kwevoltage yekupinda. Sezvatinoona kubva pamufananidzo, tembiricha yewaya inoramba ichikwira nekupa sosi yekupisa pazero voltage uye kutonhora kunotevera kwe convective. Munguva yekupisa, kushandurwazve kwemartensite kuenda kuchikamu cheaustenite kunotanga kana tembiricha yeSMA wire (T) yayambuka tembiricha ye austenite nucleation yakagadziriswa nestress (\(A_s^{\prime}\)). Munguva iyi, tambo yeSMA inomanikidzwa uye actuator inogadzira simba. Zvakare panguva yekutonhora, kana tembiricha yeSMA wire (T) yayambuka tembiricha ye nucleation yechikamu che martensite chakagadziriswa nestress (\(M_s^{\prime}\)) pane shanduko yakanaka kubva pachikamu che austenite kuenda kuchikamu che martensite. simba rekutyaira rinoderera.
Zvinhu zvikuru zvemhando yepamusoro zve bimodal drive zvichibva paSMA zvinogona kuwanikwa kubva mumhedzisiro yesimulation. Kana paine voltage pulse input, tembiricha yewaya yeSMA inowedzera nekuda kweJoule heating effect. Kukosha kwekutanga kwe martensite volume fraction (\(\xi\)) kwakaiswa pa1, sezvo zvinhu zviri pakutanga zviri muchikamu che martensitic chakazara. Sezvo waya ichiramba ichipisa, tembiricha yewaya yeSMA inodarika stress-corrected austenite nucleation tembiricha \(A_s^{\prime}\), zvichikonzera kudzikira kwe martensite volume fraction, sezvakaratidzwa paMufananidzo 4c. Pamusoro pezvo, pamufananidzo 4e panoratidza kugoverwa kwestrokes ye actuator nenguva, uye pamufananidzo 5 - driving force sebasa renguva. Sisitimu ine hukama ye equation inosanganisira tembiricha, martensite volume fraction, uye stress inokura muwaya, zvichikonzera shrinkage yewaya yeSMA nesimba rinogadzirwa ne actuator. Sezvakaratidzwa pamufananidzo. Kuchinja kwevoltage ye4d,f, netembiricha uye vhoriyamu yemartensite, kunoenderana nehunhu hwehysteresis hweSMA muchiitiko chakaedzwa pa7 V.
Kuenzanisa ma parameter ekutyaira kwakawanikwa kuburikidza nekuyedza uye kuverenga kwekuongorora. Waya dzakaiswa pa pulsed input voltage ye 7 V kwemasekonzi gumi, ndokuzotonhodzwa kwemasekonzi gumi nemashanu (chikamu chekutonhodza) muma cycles maviri. Pinnate angle yakaiswa pa \(40^{\circ}\) uye kureba kwekutanga kwewaya yeSMA mugumbo rega rega re pin kwakaiswa pa 83mm. (a) Kuyera simba rekutyaira ne load cell (b) Kutarisa tembiricha yewaya ne thermal infrared camera.
Kuti tinzwisise simba rema parameter emuviri pasimba rinogadzirwa nedhiraivha, ongororo yekunzwa kwemuenzaniso wemasvomhu kune ma parameter emuviri akasarudzwa yakaitwa, uye ma parameter akarongwa zvichienderana nekunzwa kwawo. Kutanga, sampuro yema parameter emuenzaniso yakaitwa uchishandisa misimboti yekuedza yekugadzira yakatevera kugoverwa kwakafanana (ona Chikamu Chekuwedzera paKuongororwa Kwekunzwa). Muchiitiko ichi, ma parameter emuenzaniso anosanganisira input voltage (\(V_{in}\)), initial SMA wire length (\(l_0\)), triangle angle (\(\alpha\)), bias spring constant (\( K_x\ )), convective heat transfer coefficient (\(h_T\)) uye nhamba ye unimodal branchs (n). Munhanho inotevera, peak muscle strength yakasarudzwa sechinodiwa chekugadzira chidzidzo uye parametric effects ye seti yega yega ye variables pasimba yakawanikwa. Ma tornado plots ekuongorora kwekunzwa akawanikwa kubva kuma correlation coefficients e parameter yega yega, sezvakaratidzwa muFig. 6a.
(a) Makoshero ekubatana kwema parameter emuenzaniso uye mhedzisiro yawo pasimba guru rekubudisa remapoka 2500 akasiyana eparameters emuenzaniso ari pamusoro apa anoratidzwa muchikamu chetornado. Girafu inoratidza kuenzanisa kwerank kwezviratidzo zvakati wandei. Zviri pachena kuti \(V_{in}\) ndiyo yega parameter ine positive correlation, uye \(l_0\) ndiyo parameter ine highest negative correlation. Mhedzisiro yema parameter akasiyana-siyana mumisanganiswa yakasiyana-siyana pasimba remhasuru yepamusoro inoratidzwa mu (b, c). \(K_x\) inotangira pa400 kusvika 800 N/m uye n inotangira pa4 kusvika pa24. Voltage (\(V_{in}\)) yakachinja kubva pa4V kuenda pa10V, kureba kwewaya (\(l_{0} \)) kwakachinja kubva pa40 kusvika pa100 mm, uye kona yemuswe (\ (\alpha \)) yakachinja kubva pa \ (20 - 60 \, ^ {\circ }\).
Pamufananidzo 6a panoratidza tornado plot yema coefficients akasiyana-siyana e correlation ye parameter yega yega ine zvinodiwa zve peak drive force design. Kubva pamufananidzo 6a zvinogona kuonekwa kuti voltage parameter (\(V_{in}\)) ine hukama zvakananga ne maximum output force, uye convective heat transfer coefficient (\(h_T\)), flame angle (\( \alpha\)), displacement spring constant ( \(K_x\)) ine hukama hwakaipa ne output force uye initial length (\(l_0\)) yeSMA wire, uye nhamba yema unimodal branchs (n) inoratidza strong inverse correlation. Panyaya ye direct correlation coefficient yepamusoro (\(V_ {in}\)) inoratidza kuti iyi parameter ine mhedzisiro yakakura pane power output. Imwe ongororo yakafanana inoyera peak force nekuongorora mhedzisiro yema parameter akasiyana mumisanganiswa yakasiyana yenzvimbo mbiri dze computational, sezvakaratidzwa muMufananidzo 6b, c. \(V_{in}\) uye \(l_0\), \(\alpha\) uye \(l_0\) dzine mapatani akafanana, uye girafu inoratidza kuti \(V_{in}\) uye \(\alpha\) uye \(\alpha\) dzine mapatani akafanana. Makoshero madiki e \(l_0\) anokonzera masimba epamusoro-soro. Mamwe marongero maviri anoenderana neMufananidzo 6a, apo n na \(K_x\) zvine hukama hwakaipa uye \(V_{in}\) zvine hukama hwakanaka. Kuongorora uku kunobatsira kutsanangura nekugadzirisa maparamita ekukurudzira ayo simba rekubuda, stroke uye kushanda zvakanaka kwedhiraivha system zvinogona kugadziriswa zvinoenderana nezvinodiwa uye mashandisirwo.
Basa rekutsvagisa riripo rinotanga nekuferefeta madhiraivha ehierarchical ane N levels. Muhurongwa hwematanho maviri, sezvakaratidzwa muFig. 7a, apo panzvimbo pewaya yega yega yeSMA ye actuator yekutanga, kurongeka kwe bimodal kunowanikwa, sezvakaratidzwa muFig. 9e. PaFig. 7c inoratidza kuti waya yeSMA inotenderedzwa sei paruoko runofambiswa (ruwoko rwekubatsira) runongofamba munzira refu. Zvisinei, ruoko rwekutanga runofambiswa runoramba ruchifamba nenzira imwecheteyo neruoko runofambiswa rwe1st stage multi-stage actuator. Kazhinji, N-stage drive inogadzirwa nekutsiva \(N-1\) stage SMA wire ne first-stage drive. Nekuda kweizvozvo, bazi rega rega rinotevedzera first stage drive, kunze kwebazi rinobata waya pachayo. Nenzira iyi, zvivakwa zvine matendere zvinogona kuumbwa zvinogadzira masimba akakura kanoverengeka kupfuura masimba eprimary drives. Muchidzidzo ichi, padanho rega rega, kureba kwewaya yeSMA inoshanda ye1 m kwakatariswa, sezvakaratidzwa mufomati yetafura muFig. 7d. Mwenje wemagetsi unopinda newaya yega yega mudhizaini yega yega uye prestress nevoltage zvinobuda muchikamu chega chega chewaya yeSMA zvakafanana padanho rega rega. Zvichienderana nemuenzaniso wedu wekuongorora, simba rekubuda rinoenderana zvakanaka nedanho, nepo displacement ichiwirirana zvisina kunaka. Panguva imwe chete, paive nekuchinjana pakati pe displacement nesimba remhasuru. Sezvakaratidzwa mumufananidzo 7b, nepo simba guru richiwanikwa muhuwandu hukuru hwema layers, displacement yakakura inoonekwa mu layers yakaderera. Pakaiswa level yehierarchy ku \(N=5\), simba repamusoro remhasuru re2.58 kN rakawanikwa ne strokes mbiri dzakaonekwa \(\upmu\)m. Kune rumwe rutivi, first stage drive inogadzira simba re150 N pa stroke ye277 \(\upmu\)m. Multi-level actuators inokwanisa kutevedzera mhasuru dzebhayoloji chaidzo, uko mhasuru dzekugadzira dzakavakirwa pa shape memory alloys dzinokwanisa kugadzira masimba akakwira zvakanyanya nekufamba kwakanyatsojeka uye kwakapfava. Zvipingamupinyi zveiyi dhizaini diki ndezvekuti sezvo huwandu hwezvinhu huchiwedzera, kufamba kunodzikira zvakanyanya uye kuoma kwemaitiro ekugadzira drive kunowedzera.
(a) Sisitimu ye "two-stage (\(N=2\)") layered shape memory alloy linear actuator system" inoratidzwa mu "bimodal configuration". Muenzaniso unokurudzirwa unowanikwa nekutsiva waya yeSMA mu "first stage layered actuator" neimwe "single stage layered actuator". (c) Kugadziriswa kwakachinjwa kwe "second stage multilayer actuator". (b) Kugoverwa kwemasimba uye kutama zvichienderana nehuwandu hwemazinga kwatsanangurwa. Zvakaonekwa kuti simba repamusoro re "actuator" rinoenderana zvakanaka ne "scale level" pagirafu, nepo "stroke" ichiwirirana ne "scale level". Current ne "pre-voltage" mu "waya" yega yega zvinoramba zvakafanana pamatanho ese. (d) Tafura inoratidza huwandu hwe "taps" nehurefu hwe "SMA wire" (fiber) padanho rega rega. Hunhu hwe "waya" hunoratidzwa ne "index 1", uye huwandu hwe "secondary branchs" (rimwe rakabatana ne "primary leg") hunoratidzwa ne "hombe" mu "subscript". Semuenzaniso, padanho rechishanu, \(n_1\) zvinoreva huwandu hwewaya dzeSMA dziripo muchimiro chega chega che bimodal, uye \(n_5\) zvinoreva huwandu hwemakumbo ekubatsira (rimwe rakabatana negumbo guru).
Nzira dzakasiyana-siyana dzakapihwa nevaongorori vazhinji kuti vaenzanise maitiro eSMA nechimiro chekurangarira, izvo zvinoenderana nehunhu hwe thermomechanical hunoenderana nekuchinja kwemacroscopic muchimiro chekristaro chine chekuita nekuchinja kwechikamu. Kuumbwa kwenzira dzinoumba zvinhu kwakaoma. Muenzaniso we phenomenological unonyanya kushandiswa wakakurudzirwa naTanaka28 uye unoshandiswa zvakanyanya mumashandisirwo einjiniya. Muenzaniso we phenomenological wakakurudzirwa naTanaka [28] unofunga kuti chikamu chevolume chemartensite ibasa re exponential rekupisa nekumanikidzwa. Gare gare, Liang naRogers29 naBrinson30 vakapa muenzaniso umo phase transition dynamics yaifungidzirwa kuva cosine function ye voltage ne temperature, nekuchinja kudiki kumuenzaniso. Becker naBrinson vakapa muenzaniso we phase diagram based kinetic kuti vaenzanise maitiro eSMA materials pasi pemamiriro ekurodha asina kurongeka pamwe nekuchinja kwechikamu. Banerjee32 inoshandisa nzira yeBekker naBrinson31 phase diagram dynamics kuti vaenzanise imwe degree of freedom manipulator yakagadzirwa naElahinia naAhmadian33. Nzira dzeKinetic dzinobva pamatanho ekuita zvinhu, dzinofunga nezvekuchinja kwevoltage kusingachinjiki nekupisa, dzakaoma kushandisa mumashandisirwo einjiniya. Elakhinia neAhmadian vanokwevera pfungwa kune izvi zvisizvo zvemamodeli ephenomenological aripo uye vanokurudzira modhi yephenomenological yakareba kuti vaongorore uye vatsanangure maitiro ekurangarira chimiro pasi pemamiriro ezvinhu akaomarara ekurodha.
Muenzaniso weSMA wire unopa kushushikana (\(\sigma\)), kusvuta (\(\epsilon\)), tembiricha (T), uye martensite volume fraction (\(\xi\)) yeSMA wire. Fenomenological constitutive model yakatanga kutaurwa naTanaka28 uye yakazoshandiswa naLiang29 naBrinson30. Chinobva muequation chine chimiro ichi:
apo E iri modulus yeSMA Young inoenderana nechikamu yakawanikwa uchishandisa \(\displaystyle E=\xi E_M + (1-\xi )E_A\) uye \(E_A\) uye \(E_M\) inomiririra modulus yaYoung iri austenitic uye martensitic phases, zvichiteerana, uye coefficient yekuwedzera kwekupisa inomiririrwa ne \(\theta _T\). Chinhu chinopa mupiro wechikamu ndeche \(\Omega = -E \epsilon _L\) uye \(\epsilon _L\) ndiyo yakanyanya kudzoreredzwa muwaya yeSMA.
Equation ye phase dynamics inoenderana nebasa re cosine rakagadzirwa naLiang29 uye rakazoshandiswa naBrinson30 pachinzvimbo chebasa re exponential rakataurwa naTanaka28. Modhi ye phase transition ikuwedzera kwemodhi yakataurwa naElakhinia naAhmadian34 uye yakagadziriswa zvichibva pamamiriro ekuchinja kwechikamu akapihwa naLiang29 naBrinson30. Mamiriro anoshandiswa emodhi iyi yekuchinja kwechikamu anoshanda pasi pemitoro yakaoma yethermomechanical. Panguva imwe neimwe yenguva, kukosha kwechikamu chevhoriyamu chemartensite kunoverengerwa kana uchienzanisa equation inoumbwa.
Equation yekuchinjazve, inoratidzwa nekushandurwa kwemartensite kuita austenite mumamiriro ekupisa, ndeiyi inotevera:
apo \(\xi\) iri chikamu chevhoriyamu chemartensite, \(\xi _M\) chikamu chevhoriyamu chemartensite chinowanikwa usati wapisa, \(\displaystyle a_A = \pi /(A_f – A_s)\), \( \displaystyle b_A = -a_A/C_A\) uye \(C_A\) – ma curve approximation parameters, T – SMA wire temperature, \(A_s\) uye \(A_f\) – kutanga nekuguma kwe austenite phase, zvichiteerana, tembiricha.
Muedzo wekudzora shanduko yakananga, unomiririrwa neshanduko yechikamu che austenite kuita martensite mumamiriro ekutonhora, ndewekuti:
apo \(\xi _A\) iri chikamu chevhoriyamu yemartensite inowanikwa isati yatonhora, \(\displaystyle a_M = \pi /(M_s – M_f)\), \(\displaystyle b_M = -a_M/C_M\) uye \ (C_M \) – ma curve fitting parameters, T – SMA wire temperature, \(M_s\) uye \(M_f\) – tembiricha yekutanga neyekupedzisira yemartensite, zvichiteerana.
Mushure mekunge maequation (3) ne (4) apatsanurwa, maequation ekuchinja ari inverse ne direct anorerutswa kuita zvinotevera:
Munguva yekushandurwa kwemberi nekudzoka shure \(\eta _{\sigma}\) uye \(\eta _{T}\) zvinotora mavalue akasiyana. Maequation ekutanga ane chekuita ne \(\eta _{\sigma}\) uye \(\eta _{T}\) akawanikwa uye akakurukurwa zvakadzama mune chimwe chikamu.
Simba rekupisa rinodiwa kuti riwedzere tembiricha yewaya yeSMA rinobva paJoule heating effect. Simba rekupisa rinotorwa kana kuburitswa newaya yeSMA rinomiririrwa nekupisa kwakavanzika kwekushanduka. Kurasikirwa nekupisa muwaya yeSMA kunokonzerwa nekumanikidzwa kwe convection, uye tichifunga nezvemhedzisiro isina kukosha yemwaranzi, equation yekuenzanisa simba rekupisa ndeiyi inotevera:
Apo \(m_{wire}\) iri huwandu hwese hwewaya yeSMA, \(c_{p}\) ndiyo chaiyo simba rekupisa reSMA, \(V_{in}\) ndiyo voltage inoshandiswa pawaya, \(R_{ohm} \ ) – kupokana kunoenderana nechikamu SMA, inotsanangurwa se; \(R_{ohm} = (l/A_{cross})[\xi r_M + (1-\xi )r_A]\ ) apo \(r_M\ ) uye \(r_A\) dziri SMA phase resistivity mu martensite ne austenite, zvichiteerana, \(A_{c}\) ndiyo nzvimbo yepamusoro yewaya yeSMA, \(\Delta H \) isimbi yekurangarira chimiro. Kupisa kwakavanzika kwekuchinja kwewaya, T uye \(T_{\infty}\) ndiko kupisa kwewaya yeSMA nenzvimbo, zvichiteerana.
Kana waya yesimbi yekurangarira chimiro ichifambiswa, waya yacho inodzvinyirirwa, ichigadzira simba mubazi rega rega remagadzirirwo maviri anonzi fiber force. Masimba emafiber ari mutambo yega yega yeSMA wire pamwe chete anogadzira simba remhasuru kuti rifambiswe, sezvakaratidzwa muMufananidzo 9e. Nekuda kwekuvapo kwechitubu chinotsveyamisa, simba rese remhasuru reNth multilayer actuator ndeiri:
Tichiisa \(N = 1\) muequation (7), simba remhasuru yemuenzaniso wekutanga we bimodal drive prototype rinogona kuwanikwa seinotevera:
apo n iri nhamba yemakumbo emhando imwe chete, \(F_m\) isimba remhasuru rinogadzirwa nedhiraivha, \​(F_f\) isimba refiber muSMA wire, \(K_x\) isimba rebias. chitubu, \(\alpha\) ikona yetriangle, \(x_0\) inguva yekutanga yechitubu chebias yekubata tambo yeSMA panzvimbo yakamanikidzwa, uye \(\Delta x\) inofamba neactuator.
Kufamba kwese kwedhiraivha (\(\Delta x\)) zvichienderana nevoltage (\(\sigma\)) uye kusvuta (\(\epsilon\)) paSMA wire yeNth stage, dhiraivha yacho yakaiswa ku (ona Fig. chimwe chikamu chezvinobuda):
Maequation e kinematic anopa hukama huripo pakati pekuchinja kwedhiraivha (\(\epsilon\)) uye kuchinja kana kuchinja (\(\Delta x\)). Kuchinja kwewaya yeArb sebasa rehurefu hwewaya yekutanga yeArb (\(l_0\)) uye hurefu hwewaya (l) chero nguva t mubazi rimwe chete re unimodal ndeinotevera:
apo \(l = \sqrt{l_0^2 +(\Delta x_1)^2 – 2 l_0 (\Delta x_1) \cos \alpha _1}\) inowanikwa nekushandisa fomura yecosine mu \(\Delta\)ABB ', sezvakaratidzwa muMufananidzo 8. Padanho rekutanga rekutyaira (\(N = 1\)), \(\Delta x_1\) iri \(\Delta x\), uye \(\alpha _1\) iri \(\alpha \) sezvakaratidzwa muMufananidzo 8, nekusiyanisa nguva kubva kuEquation (11) uye kutsiva kukosha kwel, chiyero chestrain chinogona kunyorwa se:
apo \(l_0\) iri kureba kwekutanga kwewaya yeSMA, l ndiyo kureba kwewaya chero nguva t mune rimwe bazi re unimodal, \(\epsilon\) ndiyo deformation yakagadzirwa muwaya yeSMA, uye \(\alpha \) ndiyo angle yetriangle, \(\Delta x\) ndiyo drive offset (sezvinoratidzwa muMufananidzo 8).
Magadzirirwo ese e n-single-peak (\(n=6\) mumufananidzo uyu) akabatana mumutsara ne \(V_{in}\) se input voltage. Stage I: Schematic diagram ye SMA wire mu bimodal configuration pasi pe zero voltage conditions Stage II: Chimiro chinodzorwa chinoratidzwa apo SMA wire inomanikidzwa nekuda kwe inverse conversion, sezvinoratidzwa ne red line.
Sehumbowo hwepfungwa, dhiraivha yeSMA-based bimodal yakagadzirwa kuti iedze kutorwa kwe equation dziri pasi nemhedzisiro yekuyedza. Muenzaniso weCAD we bimodal linear actuator unoratidzwa mumufananidzo 9a. Kune rumwe rutivi, mumufananidzo 9c unoratidza dhizaini itsva yakarongwa yekubatanidza prismatic inotenderera uchishandisa actuator yeSMA-based ine marongerwo maviri. Zvikamu zvedhiraivha zvakagadzirwa uchishandisa kugadzirwa kwekuwedzera paprinta yeUltimaker 3 Extended 3D. Chinhu chinoshandiswa pakudhinda kwe3D kwezvikamu ipolycarbonate iyo yakakodzera zvinhu zvinodzivirira kupisa sezvo yakasimba, inogara kwenguva refu uye ine tembiricha yepamusoro yekuchinja kwegirazi (110-113 \(^{\circ }\) C). Pamusoro pezvo, waya yeFlaxinol shape memory alloy yakashandiswa mukuyedza, uye hunhu hwezvinhu zvinoenderana newaya yeFlexinol hwakashandiswa mukuyedza. Waya dzeSMA dzakawanda dzakarongwa semafiber aripo muhurongwa hwematsandanyama maviri kuti awane masimba makuru anokonzerwa nemaactuator ane layer yakawanda, sezvakaratidzwa muMufananidzo 9b, d.
Sezvakaratidzwa muMufananidzo 9a, kona inopinza inoumbwa newaya yeSMA inofambiswa inonzi kona (\(\alpha\)). Nezvibatiso zvekupedzisira zvakabatanidzwa pazvibatiso zvekuruboshwe nekurudyi, waya yeSMA inobatirwa pakona yebimodal inodiwa. Chishandiso chebias spring chinobatirwa pachibatiso chespring chakagadzirirwa kugadzirisa mapoka akasiyana ekuwedzera kwebias spring zvichienderana nenhamba (n) yeSMA fibers. Pamusoro pezvo, nzvimbo yezvikamu zvinofamba yakagadzirwa kuitira kuti waya yeSMA ionekwe kune nharaunda yekunze kuti itonhorese convection. Maplate epamusoro neapasi echikamu chinobviswa anobatsira kuchengetedza waya yeSMA ichitonhorera nezvidimbu zvakachekwa zvakagadzirirwa kuderedza huremu. Pamusoro pezvo, magumo ese ewaya yeCMA akasungirirwa kumaterminal ekuruboshwe nekurudyi, zvichiteerana, achishandisa crimp. Plunger inosungirirwa kune rimwe mugumo wechikamu chinofambiswa kuti irambe yakavhurika pakati pemaplate epamusoro neapasi. Plunger inoshandiswawo kuisa simba rekuvharira ku sensor kuburikidza nekubatana kuyera simba rekuvharira kana waya yeSMA yaitwa.
Muviri wemhasuru SMA wakabatana nemagetsi mumutsara uye unoshanda nemagetsi ekupinda. Munguva yemhepo inotenderera, kana magetsi ashandiswa uye waya yeSMA yapiswa pamusoro pekupisa kwekutanga kweaustenite, kureba kwewaya mutambo yega yega kunopfupikiswa. Kudzoreredza uku kunoita kuti ruoko rwunofambiswa rwuvepo. Kana magetsi akadzikiswa mumhepo imwe chete, waya yeSMA yaidziya yaitonhodzwa pasi pekupisa kwenzvimbo yemartensite, nokudaro ichidzokera panzvimbo yayo yekutanga. Pasi pemamiriro ezvinhu asina kusimba, waya yeSMA inotanga yatambanudzwa nechitubu chebias kuti isvike pamamiriro emartensitic akabviswa. Skuruu, iyo waya yeSMA inopfuura nayo, inofamba nekuda kwekumanikidzwa kunokonzerwa nekuisa voltage pulse kuwaya yeSMA (SPA inosvika pachikamu cheaustenite), izvo zvinotungamira kukushanda kwelever inofambiswa. Kana waya yeSMA yadzoserwa, chitubu chebias chinogadzira simba rinopikisa nekutambanudza chitubu zvakanyanya. Kana kushushikana kuri muvoltage ye impulse kwava zero, waya yeSMA inorebeswa uye inochinja chimiro chayo nekuda kwekutonhodzwa kwe convection, kusvika padanho re martensitic kaviri.
Sisitimu yeSMA-based linear actuator system ine bimodal configuration umo waya dzeSMA dzakatenderedzwa. (a) inoratidza CAD model yeprototype, iyo inotaura zvimwe zvezvikamu uye zvazvinoreva zveprototype, (b, d) inomiririra prototype yakagadzirwa yekuedza35. Nepo (b) ichiratidza maonero epamusoro eprototype ine kubatana kwemagetsi uye bias springs uye strain gauges zvinoshandiswa, (d) ichiratidza maonero ekuona kwesetup. (e) Dhizaini ye linear actuation system ine waya dzeSMA dzakaiswa bimodally chero nguva t, ichiratidza kutungamira uye nzira yefiber uye simba remhasuru. (c) Kubatana kwe 2-DOF rotational prismatic kwakapihwa kuti kuise actuator yeSMA-based ine plane mbiri. Sezvakaratidzwa, link inotumira linear motion kubva pasi drive kuenda kumusoro ruoko, zvichigadzira rotational connection. Kune rumwe rutivi, kufamba kwepair of prisms kwakafanana nekufamba kwe multilayer first stage drive.
Chidzidzo chekuedza chakaitwa pamuenzaniso wakaratidzwa muFig. 9b kuti vaongorore mashandiro edhiraivha yebimodal yakavakirwa paSMA. Sezvakaratidzwa muFig. 10a, kugadzika kwekuyedza kwaisanganisira simba reDC rinogona kurongwa kuti ripe voltage yekupinda kumawaya eSMA. Sezvakaratidzwa muFig. 10b, piezoelectric strain gauge (PACEline CFT/5kN) yakashandiswa kuyera simba rekuvhara uchishandisa Graphtec GL-2000 data logger. Data racho rinonyorwa nehost kuti riwedzere kudzidza. Mageji eStrain nema amplifiers echarge anoda simba remagetsi risingaperi kuti abudise chiratidzo chevoltage. Masignals anoenderana anoshandurwa kuita magetsi anobuda zvichienderana nekunzwa kwe piezoelectric force sensor nezvimwe zviyero sezvakatsanangurwa muTafura 2. Kana voltage pulse ikashandiswa, tembiricha yewaya yeSMA inowedzera, zvichiita kuti waya yeSMA idzvanyirire, izvo zvinoita kuti actuator ibudise simba. Mhedzisiro yekuyedza yekubuda kwesimba remhasuru ne input voltage pulse ye7 V inoratidzwa muFig. 2a.
(a) Sisitimu yeSMA-based linear actuator yakaiswa mukuyedza kuyera simba rinogadzirwa neactuator. Sero rekutakura rinoyera simba rekuvhara uye rinofambiswa nemagetsi e24 V DC. Kudonha kwevoltage ye7 V kwakaiswa pamwero wese wetambo uchishandisa magetsi eGW Instek programmable DC. Waya yeSMA inodzikira nekuda kwekupisa, uye ruoko runofambiswa runobata sero rekutakura uye runoita simba rekuvhara. Sero rekutakura rakabatana neGL-2000 data logger uye data rinochengetwa pahost kuti riwedzere kugadziriswa. (b) Dhiagiramu inoratidza cheni yezvikamu zvekuyedza kuyera simba remhasuru.
Ma alloys ekurangarira chimiro anokurudzirwa nesimba rekupisa, saka tembiricha inova chinhu chakakosha pakudzidza chiitiko chekurangarira chimiro. Mukuyedza, sezvakaratidzwa muMufananidzo 11a, kupenda kwekupisa uye kuyerwa kwetembiricha zvakaitwa pa actuator yeSMA-based divalerate. Chinhu chinogadziriswa cheDC chakashandisa voltage yekupinda kumawaya eSMA mukuyedza, sezvakaratidzwa muMufananidzo 11b. Kuchinja kwetembiricha kwewaya yeSMA kwakayerwa munguva chaiyo uchishandisa kamera yeLWIR ine resolution yepamusoro (FLIR A655sc). Mubati anoshandisa software yeResearchIR kunyora data kuti riwedzere kugadziriswa. Kana voltage pulse ikashandiswa, tembiricha yewaya yeSMA inowedzera, zvichiita kuti waya yeSMA iderere. Pamufananidzo 2b inoratidza mhedzisiro yekuyedza yekushisa kwewaya yeSMA uchienzaniswa nenguva ye7V input voltage pulse.