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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Elsevier
2025-03-01
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2590123025000787 |
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| author | Alejandro Guarneros-Sandoval Mariana Ballesteros Rita Q. Fuentes-Aguilar Isaac Chairez |
| author_facet | Alejandro Guarneros-Sandoval Mariana Ballesteros Rita Q. Fuentes-Aguilar Isaac Chairez |
| author_sort | Alejandro Guarneros-Sandoval |
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| description | 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. |
| format | Article |
| id | doaj-art-93a2e361cbe14eb1b40037ed23e8b271 |
| institution | Kabale University |
| issn | 2590-1230 |
| language | English |
| publishDate | 2025-03-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Results in Engineering |
| spelling | doaj-art-93a2e361cbe14eb1b40037ed23e8b2712025-01-24T04:45:36ZengElsevierResults in Engineering2590-12302025-03-0125103990Modeling and robust control of a parallel robotic mechanism driven by linear actuators based on shape memory alloysAlejandro Guarneros-Sandoval0Mariana Ballesteros1Rita Q. Fuentes-Aguilar2Isaac Chairez3Tecnologico de Monterrey, School of Engineering and Sciences, Av. Gral Ramón Corona No 2514, Colonia Nuevo México, 45201, Jalisco, MexicoCentro de Innovación y Desarrollo Tecnológico en Cómputo, Medical Robotics and Biosignals Laboratory, Instituto Politécnico Nacional, Av. Juan de Dios Bátiz, Nueva Industrial Vallejo, 07700, Mexico City, Mexico; Corresponding author.Tecnologico de Monterrey, Institute of Advanced Materials for Sustainable Manufacturing, Av. Gral Ramón Corona No 2514, Colonia Nuevo México, 45201, Jalisco, MexicoTecnologico de Monterrey, Institute of Advanced Materials for Sustainable Manufacturing, Av. Gral Ramón Corona No 2514, Colonia Nuevo México, 45201, Jalisco, MexicoThis 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.http://www.sciencedirect.com/science/article/pii/S2590123025000787Shape memory alloysAgonist-antagonistBackstepping controlParallel mechanism |
| spellingShingle | Alejandro Guarneros-Sandoval Mariana Ballesteros Rita Q. Fuentes-Aguilar Isaac Chairez Modeling and robust control of a parallel robotic mechanism driven by linear actuators based on shape memory alloys Results in Engineering Shape memory alloys Agonist-antagonist Backstepping control Parallel mechanism |
| title | Modeling and robust control of a parallel robotic mechanism driven by linear actuators based on shape memory alloys |
| title_full | Modeling and robust control of a parallel robotic mechanism driven by linear actuators based on shape memory alloys |
| title_fullStr | Modeling and robust control of a parallel robotic mechanism driven by linear actuators based on shape memory alloys |
| title_full_unstemmed | Modeling and robust control of a parallel robotic mechanism driven by linear actuators based on shape memory alloys |
| title_short | Modeling and robust control of a parallel robotic mechanism driven by linear actuators based on shape memory alloys |
| title_sort | modeling and robust control of a parallel robotic mechanism driven by linear actuators based on shape memory alloys |
| topic | Shape memory alloys Agonist-antagonist Backstepping control Parallel mechanism |
| url | http://www.sciencedirect.com/science/article/pii/S2590123025000787 |
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