Abstract
In order to alleviate the problems of complex structure and low reliability of traditional Shape Memory Alloy (SMA) rotary actuator, a planar vortex actuator (PVA) based on SMA material was proposed to directly output torque and angular displacement. Based on the calculation method of PVA and the constitutive model of the phase transition equation of SMA, the mechanical model is established, and the pre-tightening torque, temperature, output torque, and rotation angle are obtained. The relationship expression between the tests has verified the mechanical model. The results show that the relationship between the excitation temperature and the output torque, the coefficient of determination between the calculated value and the tested value, is 0.938, the minimum error is 0.46%, and the maximum error is 49.8%. In the relationship between angular displacement and torque, the coefficient of determination between the calculated value and the test value is 0.939, the maximum error is 58.5%, and the minimum error is 28.0%. The test results show that the calculated values of mechanical model and experimental data have similar representation form.
Highlights
Shape Memory Alloy (SMA) is a new kind of functional material with Shape Memory Effect (SME)
The constitutive model of SMA used in this paper is based on the shape memory factor model proposed by Zhou Bo et al [6], and the one-dimensional phase transition constitutive model proposed by Brinson [9,10]
In order to study the relationship between the angular displacement and the excitation temperature, the angular displacement of planar vortex actuator (PVA) was tested under different excitation temperatures
Summary
SMA has excellent shape memory, superelastic properties, good mechanical properties, as well as high damping characteristics. For the SMA drive element that outputs linear displacement, the researchers made it into the form of a vortex spring to convert torsional deformation into linear displacement, increasing the linear deformation stroke [23]. For the SMA device with rotating displacement, the actuator proposed above has the disadvantages of complex motion conversion mechanism and small stroke. In this paper, based on the traditional structure of planar vortex spring, the planar vortex actuator is designed and studied to directly output torque and angular displacement. Compared with a planar vortex spring made of traditional metal materials, SMA planar vortex spring has the advantages of simple structure and smooth drive, and has the prospect of application in the aerospace field. The relationship between the output performance and the main parameters is studied, and the constitutive model is established to provide a simple calculation method for further research
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