Abstract
To keep a position using Shape Memory Alloy (SMA) actuators, the SMA actuators must be continued to be heated. To save the energy, a control method utilizing hysteresis in deformation was proposed for an antagonistic SMA system. To show feasibility of the control method, a fundamental experiment was performed. When a pulsed current was applied to the two SMA wires alternately, the equilibrium position changed between two positions alternately. To confirm the behavior, numerical simulation was also performed. The one-dimensional phase transformation model [Ikeda, Proc. SPIE 5757 (2005), 344-352] was applied to predict the deformation behavior of the antagonistic SMA system. The simulated result agreed with the experiment qualitatively. The feasibility of the proposed control method could be indicated both experimentally and numerically and the validity of the mathematical model also could be proved.
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