Modeling and robust control of a parallel robotic mechanism driven by linear actuators based on shape memory alloys
This study describes the development of a parallel robotic mechanism composed of shape memory alloys (SMA) agonist-antagonist actuators, highlighting the adaptability of the individual actuators for specific uses with slight structural modifications. Based on the temperature derivative, a hybrid mat...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2025-03-01
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| Series: | Results in Engineering |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2590123025000787 |
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| Summary: | This study describes the development of a parallel robotic mechanism composed of shape memory alloys (SMA) agonist-antagonist actuators, highlighting the adaptability of the individual actuators for specific uses with slight structural modifications. Based on the temperature derivative, a hybrid mathematical actuator model characterizes the relationship between the temperature and force. A differentiator based on the Super-Twisting algorithm defines the active section of the model. Based on the estimated model, a cascade control (backstepping-like) is implemented on the individual actuator and the parallel device to track a desired path. The controller estimates the SMA temperature to move the actuators, and the average electrical power is computed to drive the temperature to the reference value. The proposed controller is assessed by comparing a performance function related to the tracking error and the control energy used with the one obtained using a traditional proportional-derivative controller that does not consider the actuator model. The cost functional for the parallel robot obtained was 127.68 and 110.17, with the backstepping against 132.06 and 127.36 with the PD controller for the left and right actuators, respectively. The cumulative temperature with the PD reached 836.90 and 980.34, and the backstepping resulted in 745.25 and 804.50 for the left and right actuators, respectively. The results show the versatility of the single SMA-based actuator in developing a parallel structure using a hybrid model that can obtain better results than a classical PD controller. The structure control shows the possible use of the linear SMA actuator for more complex parallel mechanisms. |
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| ISSN: | 2590-1230 |