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Ma actuators amagwiritsidwa ntchito kulikonse ndikupanga zoyenda zoyendetsedwa pogwiritsa ntchito mphamvu yolimbikitsira kapena torque kuti igwire ntchito zosiyanasiyana popanga ndi makina opanga mafakitale.Kufunika kwa ma drive othamanga, ang'onoang'ono komanso oyendetsa bwino ndikuyendetsa luso pakupanga ma drive.Ma drive a Shape Memory Alloy (SMA) amapereka maubwino angapo kuposa ma drive wamba, kuphatikiza kuchuluka kwamphamvu kwa kulemera.M'mawu awa, chowongolera chokhala ndi nthenga ziwiri cha SMA chinapangidwa chomwe chimaphatikiza ubwino wa minofu ya nthenga ya biological systems ndi katundu wapadera wa SMAs.Kafukufukuyu amafufuza ndi kukulitsa zida za SMA zam'mbuyomu popanga masamu a actuator yatsopano kutengera mawaya a bimodal SMA ndikuyesa kuyesa.Poyerekeza ndi ma drive odziwika ozikidwa pa SMA, mphamvu yoyendetsera galimoto yatsopanoyo ndi yokwera nthawi zosachepera 5 (mpaka 150 N).Kuonda kofananirako kuli pafupifupi 67%.Zotsatira za sensitivity kusanthula masamu masamu ndi zothandiza pokonza magawo mapangidwe ndi kumvetsa magawo ofunika.Kafukufukuyu akuwonetsanso maulendo angapo a Nth stage drive omwe angagwiritsidwe ntchito kupititsa patsogolo mphamvu.Ma SMA-based dipvalerate muscle actuators ali ndi ntchito zosiyanasiyana, kuyambira pakupanga makina opangira makina mpaka machitidwe olondola operekera mankhwala.
Zachilengedwe, monga minofu ya nyama zoyamwitsa, zimatha kuyambitsa zida zambiri zobisika1.Nyama zoyamwitsa zimakhala ndi minyewa yosiyanasiyana, iliyonse imagwira ntchito yake.Komabe, mapangidwe ambiri a minofu ya mammalian amatha kugawidwa m'magulu awiri akuluakulu.Parallel ndi pennate.Mu hamstrings ndi ma flexor ena, monga momwe dzinalo likusonyezera, minyewa yofananira imakhala ndi ulusi wa minofu womwe umafanana ndi tendon yapakati.Unyolo wa ulusi wa minofu umalumikizidwa ndikulumikizidwa bwino ndi minofu yowazungulira.Ngakhale kuti minofuyi imanenedwa kuti ili ndi ulendo waukulu (kufupikitsa peresenti), mphamvu zawo zonse za minofu ndizochepa kwambiri.Mosiyana ndi zimenezi, mu triceps ng'ombe muscle2 (lateral gastrocnemius (GL) 3, medial gastrocnemius (GM) 4 ndi soleus (SOL)) ndi extensor femoris (quadriceps) 5,6 pennate minofu minofu imapezeka mu minofu7 iliyonse.Mu mawonekedwe a pinnate, ulusi wa minofu mu bipennate musculature ulipo kumbali zonse za tendon yapakati pa oblique angles (pinnate angles).Pennate imachokera ku liwu lachilatini "penna", lomwe limatanthauza "cholembera", ndipo, monga momwe tawonetsera mkuyu.1 ili ndi mawonekedwe ngati nthenga.Minofu ya pennate minofu ndi yaifupi ndi angled kwa longitudinal olamulira minofu.Chifukwa cha mawonekedwe a pinnate, kusuntha kwathunthu kwa minofuyi kumachepetsedwa, zomwe zimatsogolera ku zigawo zozungulira komanso zautali zafupikitsa.Kumbali inayi, kutsegula kwa minofuyi kumapangitsa kuti minofu ikhale yolimba chifukwa cha momwe thupi limayendera.Chifukwa chake, pagawo lopatsirana, minofu ya pennate idzakhala yamphamvu ndipo ipanga mphamvu zapamwamba kuposa minofu yokhala ndi ulusi wofanana.Mphamvu zopangidwa ndi ulusi wina zimapanga mphamvu za minofu pamlingo wa macroscopic mu minofu ya minofuyo.Kuphatikiza apo, ili ndi zinthu zapadera monga kuchepa kwachangu, chitetezo ku kuwonongeka kwamphamvu, kutsika.Zimasintha mgwirizano pakati pa kuyika kwa fiber ndi mphamvu ya minofu pogwiritsa ntchito mawonekedwe apadera ndi zovuta za geometric za dongosolo la fiber lomwe limagwirizanitsidwa ndi mizere ya minofu.
Zowonetsedwa ndi zithunzi zamapangidwe omwe alipo a SMA-based actuator okhudzana ndi kapangidwe ka minofu yambiri, mwachitsanzo (a), kuyimira kulumikizana kwa mphamvu yogwira momwe chida chopangidwa ndi dzanja choyendetsedwa ndi mawaya a SMA chimayikidwa pa mawilo awiri odziyimira pawokha loboti9,10., (b) Robotic orbital prosthesis yomwe imayikidwa motsutsa SMA yodzaza masika ya orbital prosthesis.Malo a diso la prosthetic amawongoleredwa ndi chizindikiro chochokera ku minofu ya ocular ya eye11, (c) SMA actuators ndi yabwino kwa ntchito zapansi pamadzi chifukwa cha kuyankha kwafupipafupi komanso kutsika kwa bandwidth.Pakukonza uku, ma SMA actuators amagwiritsidwa ntchito popanga kayendedwe ka mafunde poyesa kusuntha kwa nsomba, (d) SMA actuators amagwiritsidwa ntchito popanga loboti yoyendera chitoliro yaying'ono yomwe ingagwiritse ntchito inchi nyongolotsi yoyenda mfundo, yoyendetsedwa ndi kayendedwe ka mawaya a SMA mkati mwa njira 10, (e) ikuwonetsa komwe kulowera ulusi wamtunduwu ndikutulutsa minofu ya contractile (e) ikuwonetsa mayendedwe a contractile ulusi ndi kupanga mawonekedwe a contractile minofu mu minofu ya SMA. mu pennate minofu dongosolo.
Ma actuators akhala gawo lofunikira pamakina amakina chifukwa chamitundumitundu yamagwiritsidwe ntchito.Chifukwa chake, kufunikira kwa ma drive ang'onoang'ono, othamanga komanso ogwira mtima kwambiri kumakhala kofunikira.Ngakhale zabwino zake, zoyendetsa zachikhalidwe zatsimikizira kukhala zodula komanso zowononga nthawi kuti zisungidwe.Ma hydraulic ndi pneumatic actuators ndi ovuta komanso okwera mtengo ndipo amatha kuvala, zovuta zamafuta komanso kulephera kwazinthu.Poyankha zofunidwa, cholinga chake ndikukhazikitsa zopangira zotsika mtengo, zokongoletsedwa bwino komanso zapamwamba kutengera zida zanzeru.Kafukufuku wopitilira akuyang'ana ma actuators a shape memory alloy (SMA) kuti akwaniritse chosowachi.Ma actuators a hierarchical ndi apadera chifukwa amaphatikiza ma actuators ambiri kukhala ma geometrically macro scale subsystems kuti apereke magwiridwe antchito owonjezereka.Pachifukwa ichi, minofu yaumunthu yomwe yafotokozedwa pamwambapa imapereka chitsanzo chabwino kwambiri cha multilayered actuation.Kafukufuku wapano akufotokoza ma drive a SMA amitundu yambiri okhala ndi zinthu zingapo zoyendetsa payekha (mawaya a SMA) ogwirizana ndi mawonekedwe a ulusi omwe amapezeka mu minofu ya bimodal, zomwe zimathandizira kuyendetsa bwino kwambiri.
Cholinga chachikulu cha actuator ndikutulutsa mphamvu zamakina monga kukakamiza ndi kusamuka potembenuza mphamvu zamagetsi.Ma aloyi a kukumbukira mawonekedwe ndi gulu la zida "zanzeru" zomwe zimatha kubwezeretsa mawonekedwe awo kutentha kwambiri.Pansi pa katundu wambiri, kuwonjezeka kwa kutentha kwa waya wa SMA kumabweretsa kuchira, zomwe zimapangitsa kuti pakhale mphamvu zambiri zoyendetsera mphamvu poyerekeza ndi zida zanzeru zomwe zimalumikizidwa mwachindunji.Nthawi yomweyo, pansi pa katundu wamakina, ma SMA amakhala osalimba.Pazifukwa zina, katundu wa cyclic amatha kuyamwa ndikutulutsa mphamvu zamakina, kuwonetsa kusintha kwa mawonekedwe a hysteretic.Zinthu zapaderazi zimapangitsa SMA kukhala yabwino kwa masensa, kugwetsa kugwedezeka komanso makamaka ma actuators12.Poganizira izi, pakhala pali kafukufuku wambiri pamayendedwe otengera SMA.Zindikirani kuti ma actuators a SMA adapangidwa kuti azitha kumasulira komanso kusuntha kwamapulogalamu osiyanasiyana13,14,15.Ngakhale ma rotary actuator apangidwa, ofufuza ali ndi chidwi kwambiri ndi ma linear actuators.Ma actuators awa amatha kugawidwa m'mitundu itatu ya ma actuators: mawonekedwe amodzi, osasunthika komanso osiyanitsa 16.Poyambirira, ma drive osakanizidwa adapangidwa kuphatikiza ndi SMA ndi ma drive ena wamba.Chitsanzo chimodzi chotere cha hybrid linear actuator yochokera ku SMA ndikugwiritsa ntchito waya wa SMA wokhala ndi mota ya DC kuti ipereke mphamvu yotulutsa pafupifupi 100 N ndi kusamuka kwakukulu17.
Chimodzi mwazotukuka zoyamba pamagalimoto otengera SMA ndi SMA parallel drive.Pogwiritsa ntchito mawaya angapo a SMA, SMA-based parallel drive idapangidwa kuti iwonjezere mphamvu yagalimotoyo poyika mawaya onse a SMA18 mofanana.Kulumikizana kofanana kwa ma actuators sikungofuna mphamvu zambiri, komanso kumachepetsa mphamvu ya waya imodzi.Choyipa china cha ma actuators a SMA ndikuyenda kochepa komwe angakwaniritse.Kuti athetse vutoli, mtengo wa chingwe cha SMA udapangidwa wokhala ndi mtengo wosinthika wopindika kuti uwonjezere kusamuka ndikukwaniritsa kuyenda kwa mzere, koma sunapange mphamvu zapamwamba19.Zomangira zofewa zopunduka ndi nsalu zamaloboti zozikidwa pa ma alloys okumbukira mawonekedwe adapangidwa makamaka kuti awonjezere mphamvu20,21,22.Pazinthu zomwe zimafunikira kuthamanga kwambiri, mapampu oyendetsedwa ndi ma compact adanenedwa pogwiritsa ntchito ma SMA amakanema ang'onoang'ono pamapulogalamu oyendetsedwa ndi ma micropump23.Kuthamanga kwafupipafupi kwa filimu yopyapyala ya SMA ndi chinthu chofunikira kwambiri pakuwongolera kuthamanga kwa dalaivala.Chifukwa chake, ma SMA linear motors ali ndi mayankho abwinoko kuposa ma SMA spring kapena rod motors.Ma robotiki ofewa komanso ukadaulo wogwirira ndi mapulogalamu ena awiri omwe amagwiritsa ntchito ma actuators a SMA.Mwachitsanzo, m'malo mwa actuator yogwiritsidwa ntchito mu 25 N space clamp, mawonekedwe a memory alloy parallel actuator 24 adapangidwa.Nthawi ina, SMA actuator yofewa inapangidwa pogwiritsa ntchito waya wokhala ndi matrix ophatikizidwa omwe amatha kupanga mphamvu yokoka kwambiri ya 30 N. Chifukwa cha makina awo, ma SMA amagwiritsidwanso ntchito kupanga makina omwe amatsanzira zochitika zamoyo.Chimodzi mwazinthu zoterezi chimaphatikizapo loboti ya 12-cell yomwe ndi biomimetic ya chamoyo chofanana ndi nyongolotsi yokhala ndi SMA kuti ipange kusuntha kwa sinusoidal kumoto26,27.
Monga tanena kale, pali malire ku mphamvu yayikulu yomwe ingapezeke kuchokera ku ma actuators omwe alipo a SMA.Pofuna kuthana ndi vutoli, phunziroli likupereka mawonekedwe a minofu ya bimodal bimodal.Yoyendetsedwa ndi mawonekedwe memory alloy waya.Amapereka dongosolo lamagulu lomwe limaphatikizapo mawaya angapo a kukumbukira mawonekedwe.Mpaka pano, palibe ma actuators a SMA okhala ndi zomanga zofananira zomwe zalembedwa m'mabuku.Dongosolo lapadera komanso lachilendoli lozikidwa pa SMA lidapangidwa kuti liphunzire momwe SMA imayendera pakulumikizana kwa minofu ya bimodal.Poyerekeza ndi ma actuators a SMA omwe analipo kale, cholinga cha kafukufukuyu chinali kupanga biomimetic dipvalerate actuator kuti apange mphamvu zapamwamba kwambiri mu voliyumu yaying'ono.Poyerekeza ndi ma stepper motor drives wamba omwe amagwiritsidwa ntchito pomanga makina opangira ma HVAC ndi makina owongolera, kapangidwe kake ka SMA-based bimodal drive kamachepetsa kulemera kwa makina oyendetsa ndi 67%.M'munsimu, mawu akuti "minofu" ndi "kuyendetsa" amagwiritsidwa ntchito mofanana.Kafukufukuyu amafufuza kayesedwe ka multiphysics kagalimoto ngati imeneyi.Makhalidwe amakina a machitidwe otere aphunziridwa ndi njira zoyesera komanso zowunikira.Kugawidwa kwa mphamvu ndi kutentha kunafufuzidwanso pamagetsi olowera a 7 V. Pambuyo pake, kufufuza kwa parametric kunachitika kuti mumvetse bwino mgwirizano pakati pa magawo ofunika kwambiri ndi mphamvu zotulutsa.Pomaliza, ma actuators a hierarchical actuators akhala akuganiziridwa ndipo zotsatira za mulingo wotsogola zaperekedwa ngati malo omwe atha kukhala amtsogolo kwa omwe sagwiritsa ntchito maginito opangira ma prosthetic.Malinga ndi zotsatira za maphunziro omwe tawatchulawa, kugwiritsa ntchito kamangidwe ka gawo limodzi kumapanga mphamvu zosachepera kanayi kapena kasanu kuposa zomwe zanenedwa za SMA-based actuators.Kuphatikiza apo, mphamvu yoyendetsa yomweyi yopangidwa ndi ma drive amitundu ingapo yawonetsedwa kuti ndi yopitilira kakhumi kuposa ma drive wamba a SMA.Phunziroli limafotokoza magawo ofunikira pogwiritsa ntchito kusanthula kwa chidwi pakati pa mapangidwe osiyanasiyana ndi mitundu yolowera.Kutalika koyambirira kwa waya wa SMA (\(l_0\)), pinnate angle (\(\ alpha\)) ndi chiwerengero cha chingwe chimodzi (n) mu chingwe cha munthu aliyense chimakhala ndi zotsatira zoipa kwambiri pa kukula kwa mphamvu yoyendetsa galimoto.mphamvu, pomwe mphamvu yolowera (mphamvu) idakhala yolumikizana bwino.
Waya wa SMA amawonetsa mawonekedwe a memory memory (SME) omwe amawoneka mumtundu wa nickel-titanium (Ni-Ti) wa alloys.Nthawi zambiri, ma SMA amawonetsa magawo awiri otengera kutentha: gawo lotsika la kutentha ndi gawo la kutentha kwambiri.Magawo onsewa ali ndi zinthu zapadera chifukwa cha kukhalapo kwa makristalo osiyanasiyana.Mu gawo la austenite (gawo la kutentha kwambiri) lomwe liripo pamwamba pa kutentha kwa kusintha, zinthuzo zimasonyeza mphamvu zambiri ndipo zimakhala zopunduka bwino pansi pa katundu.Aloyiyo imakhala ngati chitsulo chosapanga dzimbiri, kotero imatha kupirira zovuta zothamanga kwambiri.Kutengera mwayi wazinthu izi za Ni-Ti alloys, mawaya a SMA amapendekeka kuti apange actuator.Mitundu yoyenera yowunikira imapangidwa kuti imvetsetse makina ofunikira a machitidwe otentha a SMA motengera magawo osiyanasiyana ndi ma geometri osiyanasiyana.Chigwirizano chabwino chinapezedwa pakati pa zotsatira zoyesera ndi zowunikira.
Kufufuza koyesera kunachitika pa chitsanzo chomwe chasonyezedwa mumkuyu 9a kuti awone momwe kayendetsedwe ka bimodal drive ikuyendera pa SMA.Awiri mwa zinthu izi, mphamvu yopangidwa ndi kuyendetsa (mphamvu ya minofu) ndi kutentha kwa waya wa SMA (kutentha kwa SMA), adayesedwa moyesera.Pamene kusiyana kwa voteji kumawonjezeka pamtunda wonse wa waya mu galimoto, kutentha kwa waya kumawonjezeka chifukwa cha kutentha kwa Joule.Mpweya wolowetsamo unkagwiritsidwa ntchito muzitsulo ziwiri za 10-s (zowonetsedwa ngati madontho ofiira mu Mkuyu 2a, b) ndi nthawi yozizira ya 15-s pakati pa kuzungulira kulikonse.Mphamvu yotchinga inayesedwa pogwiritsa ntchito piezoelectric strain gauge, ndipo kugawidwa kwa kutentha kwa waya wa SMA kunayang'aniridwa mu nthawi yeniyeni pogwiritsa ntchito kamera ya LWIR ya sayansi yapamwamba kwambiri (onani zizindikiro za zipangizo zomwe zimagwiritsidwa ntchito mu Table 2).zikuwonetsa kuti panthawi yamagetsi apamwamba, kutentha kwa waya kumawonjezeka monotonically, koma pamene palibe mpweya ukuyenda, kutentha kwa waya kumapitirira kugwa.Pakuyesa kwapano, kutentha kwa waya wa SMA kunatsika panthawi yoziziritsa, koma kunali kupitilira kutentha kozungulira.Pa mkuyu.2e ikuwonetsa chithunzithunzi cha kutentha pa waya wa SMA wotengedwa ku kamera ya LWIR.Kumbali ina, mu mkuyu.2a ikuwonetsa mphamvu yotsekereza yopangidwa ndi makina oyendetsa.Pamene mphamvu ya minofu idutsa mphamvu yobwezeretsa kasupe, mkono wosunthika, monga momwe tawonetsera pa Chithunzi 9a, umayamba kusuntha.Kuthamanga kukangoyamba, mkono wosunthika umakhudzana ndi sensa, ndikupanga mphamvu ya thupi, monga momwe tawonetsera mkuyu.2c, ndi.Pamene kutentha kwakukulu kuli pafupi ndi \(84\,^{\circ}\hbox {C}\), mphamvu yowona kwambiri ndi 105 N.
Chithunzichi chikuwonetsa zotsatira zoyesera za kutentha kwa waya wa SMA ndi mphamvu yopangidwa ndi SMA-based bimodal actuator m'mizere iwiri.Mphamvu yolowera imayikidwa pamizere iwiri ya 10 (yowonetsedwa ngati madontho ofiira) ndi mphindi 15 yoziziritsa pakati pa kuzungulira kulikonse.Waya wa SMA wogwiritsidwa ntchito poyesera anali 0.51 mm m'mimba mwake Flexinol waya kuchokera ku Dynalloy, Inc. (a) Grafu ikuwonetsa mphamvu yoyesera yomwe imapezeka pazigawo ziwiri, (c, d) imasonyeza zitsanzo ziwiri zodziyimira pawokha za machitidwe osuntha oyendetsa mkono pa PACEline CFT / 5kN piezoelectric mphamvu transducer, (b) kutentha kwapakati pa nthawi ya graph, (b) ma graph nthawi zambiri amawonetsa kutentha kwa graph. chithunzi chojambulidwa kuchokera ku waya wa SMA pogwiritsa ntchito kamera ya FLIR ResearchIR LWIR.Magawo a geometric omwe amaganiziridwa pazoyeserera amaperekedwa mu Table.imodzi.
Zotsatira zofananira zachitsanzo cha masamu ndi zotsatira zoyesera zimafaniziridwa pansi pa chikhalidwe cha voliyumu yowonjezera ya 7V, monga momwe tawonetsera mu Fig.5.Malinga ndi zotsatira za kusanthula kwa parametric komanso pofuna kupewa kuthekera kwa kutentha kwa waya wa SMA, mphamvu ya 11.2 W inaperekedwa kwa actuator.Mphamvu yamagetsi ya DC yomwe ingatheke idagwiritsidwa ntchito kupereka 7V ngati voteji yolowera, ndipo yapano ya 1.6A idayezedwa pawaya.Mphamvu yopangidwa ndi kuyendetsa ndi kutentha kwa SDR kumawonjezeka pamene panopa ikugwiritsidwa ntchito.Ndi voteji yolowera ya 7V, mphamvu yayikulu yotulutsa yomwe imapezeka kuchokera pazotsatira zoyeserera ndi zoyeserera za kuzungulira koyamba ndi 78 N ndi 96 N, motsatana.Pakuzungulira kwachiwiri, mphamvu yayikulu yotulutsa zoyeserera ndi zoyeserera zinali 150 N ndi 105 N, motsatana.Kusiyanitsa pakati pa kuyeza kwa mphamvu ya occlusion ndi deta yoyesera kungakhale chifukwa cha njira yomwe imagwiritsidwa ntchito poyeza mphamvu ya occlusion.Zotsatira zoyeserera zomwe zikuwonetsedwa mkuyu.5a imagwirizana ndi kuyeza kwa mphamvu yotsekera, yomwe idayesedwanso pamene shaft yoyendetsa galimoto ikugwirizana ndi PACEline CFT / 5kN piezoelectric force transducer, monga momwe tawonetsera mkuyu.2s.Choncho, pamene shaft yoyendetsa galimoto sikugwirizana ndi mphamvu ya mphamvu kumayambiriro kwa malo ozizira, mphamvuyo nthawi yomweyo imakhala zero, monga momwe tawonetsera mkuyu 2d.Kuphatikiza apo, magawo ena omwe amakhudza kupangika kwa mphamvu m'mizere yotsatila ndizofunika nthawi yoziziritsa komanso kuchuluka kwa kutentha kwa convective m'mayendedwe am'mbuyomu.Kuchokera mkuyu.2b, zikhoza kuwoneka kuti pambuyo pa nthawi yozizira ya 15 yachiwiri, waya wa SMA sunafike kutentha kwa chipinda ndipo motero anali ndi kutentha kwakukulu koyambirira (\(40\,^{\circ }\hbox {C}\)) mumayendedwe achiwiri oyendetsa galimoto poyerekeza ndi kuzungulira koyamba (\(25\, ^{\circ}\hbox {C}\)).Choncho, poyerekeza ndi kuzungulira koyamba, kutentha kwa waya wa SMA panthawi yachiwiri yotentha kumafika kutentha koyambirira kwa austenite (\(A_s\)) kale ndipo kumakhala nthawi yosinthira nthawi yaitali, zomwe zimapangitsa kuti zikhale zovuta komanso zokakamiza.Kumbali ina, kugawa kwa kutentha panthawi ya kutentha ndi kuzizira komwe kumatengedwa kuchokera ku zoyesera ndi zofananira kumakhala ndi kufanana kwakukulu kwa zitsanzo kuchokera ku kufufuza kwa thermographic.Kuwunika koyerekeza kwa data yamagetsi yamagetsi ya SMA kuchokera ku zoyeserera ndi zoyeserera zidawonetsa kusasinthika panthawi ya kutentha ndi kuzizira komanso mkati mwa kulolerana kovomerezeka kwa data yoyesera.Kutentha kwakukulu kwa waya wa SMA, wopezedwa kuchokera ku zotsatira za kuyezetsa ndi kuyesa koyambira koyamba, ndi \(89\,^{\ circ }\hbox {C}\) ndi \(75\,^{\circ }\hbox {C}\, motsatana), ndipo mumzere wachiwiri kutentha kwakukulu kwa waya wa SMA ndi ^\\ rc, \\, \\ rc ^ ^ , \\ 94 {} rc, \\, \\ c\ r ^ \ circ }\ hbox {C}\).Chitsanzo chokhazikitsidwa bwino chimatsimikizira zotsatira za kukumbukira kwa mawonekedwe.Udindo wa kutopa ndi kutentha kwambiri sunaganizidwe mu ndemanga iyi.M'tsogolomu, chitsanzocho chidzakonzedwa kuti chiphatikize mbiri ya kupsinjika kwa waya wa SMA, ndikupangitsa kuti ikhale yoyenera kwambiri pa ntchito za uinjiniya.Mphamvu yotulutsa mphamvu yoyendetsa galimoto ndi ma SMA kutentha kwa ziwembu zomwe zimachokera ku Simulink chipika zili mkati mwa kulolera kovomerezeka kwa deta yoyesera pansi pa chikhalidwe cha 7 V. Izi zimatsimikizira kulondola ndi kudalirika kwa chitsanzo cha masamu opangidwa.
Masamu a masamu adapangidwa m'malo a MathWorks Simulink R2020b pogwiritsa ntchito ma equation ofunikira omwe akufotokozedwa mu gawo la Njira.Pa mkuyu.3b ikuwonetsa chojambula chamtundu wa Simulink masamu.Chitsanzocho chinafaniziridwa ndi 7V input voltage pulse monga momwe tawonetsera mkuyu 2a, b.Makhalidwe a magawo omwe amagwiritsidwa ntchito poyerekezera amalembedwa mu Table 1. Zotsatira za kuyerekezera kwa njira zosakhalitsa zimaperekedwa mu Zithunzi 1 ndi 1. Zithunzi 3a ndi 4. Mkuyu.4a,b ikuwonetsa mphamvu yamagetsi muwaya wa SMA ndi mphamvu yopangidwa ndi actuator ngati ntchito yanthawi. Panthawi yosintha (kutentha), pamene kutentha kwa waya wa SMA, \(T <A_s^{\prime}\) (kupanikizika-modified austenite gawo loyambira kutentha), mlingo wa kusintha kwa gawo la martensite volume (\(\dot{\xi}\)) lidzakhala ziro. Pa kusintha kwa reverse (kutentha), pamene kutentha kwa waya wa SMA, \(T <A_s^{\prime}\) (kupsinjika-modified austenite gawo loyambira kutentha), mlingo wa kusintha kwa gawo la martensite volume (\(\dot{\xi}\)) adzakhala ziro. Во время обратного превращения (нагрева), когда температура проволоки SMA, \(T < A_s^{\prime}\) (температура начала аустенитной проволоки SMA, \(T < A_s^{\prime}\) сть изменения объемной доли мартенсита (\(\dot{\ xi xi }\)) будет равно нулю. Pa kusintha kwa reverse (kutentha), pamene kutentha kwa waya wa SMA, \(T <A_s^{\prime}\) (kupanikizika-modified austenite kuyamba kutentha), mlingo wa kusintha kwa gawo la martensite volume (\(\ dot{\ xi }\ )) adzakhala zero.在反向转变（加热）过程中，当SMA 线温度\(T < A_s^{\prime}\))积分数的变化率（\(\dot{\ xi }\)) 将為零。在 反向 转变 （加热） 中, 当 当 线 温度 \ (t
(a) Zotsatira zofananira zomwe zikuwonetsa kugawa kwa kutentha ndi kutentha kwapang'onopang'ono kolumikizana ndi SMA-based divalerate actuator.Pamene waya kutentha kuwoloka austenite kusintha kutentha mu Kutentha siteji, kusinthidwa austenite kusintha kutentha kumayamba kuwonjezeka, ndipo mofanana, pamene waya ndodo kutentha kuwoloka martensitic kusintha kutentha mu siteji yozizira, ndi martensitic kusintha kutentha amachepetsa.SMA yowunikira ma analytical process of actuation process.(Kuti muone mwatsatanetsatane kagawo kakang'ono kalikonse ka mtundu wa Simulink, onani gawo lazowonjezera la fayilo yowonjezera.)
Zotsatira za kusanthula kwa magawo osiyanasiyana a magawo akuwonetsedwa pamizere iwiri yamagetsi olowera a 7V (kuzungulira kwa masekondi 10 ndi kuzungulira kwa masekondi 15).Pamene (ac) ndi (e) akuwonetsera kugawidwa kwa nthawi, kumbali ina, (d) ndi (f) akuwonetsera kugawidwa ndi kutentha.Pamalo olowera, kupsinjika kwakukulu komwe kumawonedwa ndi 106 MPa (osakwana 345 MPa, mphamvu yotulutsa waya), mphamvu ndi 150 N, kusamuka kwakukulu ndi 270 µm, ndipo gawo laling'ono la martensitic ndi 0.91.Kumbali ina, kusintha kwa kupsinjika ndi kusintha kwa gawo la voliyumu ya martensite ndi kutentha kuli kofanana ndi mawonekedwe a hysteresis.
Kufotokozera komweku kumagwiranso ntchito pakusintha kwachindunji (kuzizira) kuchokera ku gawo la austenite kupita ku gawo la martensite, kumene kutentha kwa waya wa SMA (T) ndi kutentha kotsiriza kwa gawo la kupsinjika-kusinthidwa martensite (\(M_f^{\prime}\ )) ndi yabwino kwambiri.Pa mkuyu.4d,f ikuwonetsa kusintha kwa kupsinjika komwe kunapangitsa (\(\ sigma\)) ndi gawo la voliyumu ya martensite (\(\xi\)) mu waya wa SMA monga ntchito ya kusintha kwa kutentha kwa waya wa SMA (T), pamayendedwe onse oyendetsa.Pa mkuyu.Chithunzi 3a chikuwonetsa kusintha kwa kutentha kwa waya wa SMA ndi nthawi kutengera kugunda kwamagetsi.Monga tikuwonera pachithunzichi, kutentha kwa waya kumapitilirabe kukwera popereka gwero la kutentha pa zero voteji ndi kuzizira kotsatira kwa convective.Panthawi yotentha, kusinthika kwa martensite ku gawo la austenite kumayamba pamene kutentha kwa waya wa SMA (T) kumadutsa kutentha kwa austenite nucleation (\(A_s^{\prime}\))).Mugawoli, waya wa SMA amapanikizidwa ndipo chowongolera chimatulutsa mphamvu.Komanso panthawi yozizira, pamene kutentha kwa waya wa SMA (T) kumadutsa kutentha kwa nucleation kwa gawo losinthidwa la martensite (\(M_s^{\prime}\)) pali kusintha kwabwino kuchokera ku gawo la austenite kupita ku gawo la martensite.mphamvu yoyendetsa imachepa.
Mbali zazikuluzikulu zamagalimoto a bimodal zochokera ku SMA zitha kupezeka kuchokera pazotsatira zoyeserera.Pankhani ya voltage pulse input, kutentha kwa waya wa SMA kumawonjezeka chifukwa cha kutentha kwa Joule.Mtengo woyambirira wa gawo la martensite voliyumu (\(\xi\)) wayikidwa ku 1, popeza zinthuzo zimayambira mu gawo la martensitic.Pamene waya akupitiriza kutentha, kutentha kwa waya wa SMA kumaposa kutentha kwa austenite nucleation kutentha kwapakati (A_s ^ {\ prime} \), zomwe zimapangitsa kuchepa kwa gawo la martensite volume, monga momwe tawonetsera pa Chithunzi 4c.Komanso, mu mkuyu.4e ikuwonetsa kugawidwa kwa zikwapu za actuator mu nthawi, komanso mkuyu.5 - mphamvu yoyendetsa ngati ntchito ya nthawi.Dongosolo lofananira la ma equation limaphatikizapo kutentha, kagawo kakang'ono ka martensite voliyumu, ndi kupsinjika komwe kumachitika mu waya, zomwe zimapangitsa kuti waya wa SMA ukhale wocheperako komanso mphamvu yopangidwa ndi woyendetsa.Monga momwe tawonetsera mkuyu.4d,f, kusinthasintha kwamagetsi ndi kutentha ndi kusinthasintha kwa magawo a martensite voliyumu ndi kutentha kumayenderana ndi mawonekedwe a hysteresis a SMA munkhani yoyeserera pa 7 V.
Kuyerekeza kwa magawo oyendetsa galimoto kunapezedwa kudzera muzoyeserera ndi kuwerengera kowunika.Mawayawo adalowetsedwa ndi 7 V kwa masekondi 10, kenako adakhazikika kwa masekondi 15 (gawo lozizira) pamizere iwiri.Mbali ya pinnate imayikidwa ku \(40^{\ circ}\) ndipo kutalika koyambirira kwa waya wa SMA pa mwendo umodzi wa pini kumayikidwa ku 83mm.(a) Kuyeza mphamvu yoyendetsa ndi cell cell (b) Kuwunika kutentha kwa waya ndi kamera yotentha ya infrared.
Kuti timvetse mphamvu ya magawo a thupi pa mphamvu yopangidwa ndi galimotoyo, kusanthula kwa kukhudzidwa kwa masamu a masamu kuzinthu zosankhidwa zakuthupi kunachitika, ndipo magawowo adayikidwa molingana ndi mphamvu zawo.Choyamba, sampuli za zigawo zachitsanzo zinachitidwa pogwiritsa ntchito mfundo zoyesera zomwe zinatsatira kugawa kofanana (onani Supplementary Section on Sensitivity Analysis).Pankhaniyi, magawo a chitsanzo amaphatikizapo voteji yolowera (\(V_{in}\)), kutalika kwa waya wa SMA (\(l_0\)), ngodya ya makona atatu (\(\ alpha\)), kukondera kasupe kosasintha (\( K_x\ )), koyefisi yotengera kutentha kwa convective (\(h_T\)) ndi chiwerengero cha nthambi za unimodal (n).Mu sitepe yotsatira, mphamvu yapamwamba ya minofu inasankhidwa monga chofunikira cha mapangidwe a phunziro ndipo zotsatira za parametric zamtundu uliwonse wa zosinthika pa mphamvu zinapezedwa.Mapangidwe a mphepo yamkuntho yowunikira kukhudzidwa adachokera ku coefficients coefficients pa parameter iliyonse, monga momwe tawonetsera mkuyu 6a.
(a) Ma coefficient coefficient a magawo amitundu ndi momwe amakhudzira mphamvu yayikulu yotulutsa yamagulu 2500 apadera amitundu yomwe ili pamwambapa ikuwonetsedwa pachiwembu chamkuntho.Grafu ikuwonetsa kulumikizika kwamagulu angapo.Zikuwonekeratu kuti \(V_{in}\) ndiyo yokhayo yomwe ili ndi mgwirizano wabwino, ndipo \(l_0\) ndi chizindikiro chokhala ndi mgwirizano wapamwamba kwambiri.Zotsatira za magawo osiyanasiyana pazophatikizira zosiyanasiyana pamphamvu yamphamvu ya minofu zimawonetsedwa mu (b, c).\ (K_x\) kuyambira 400 mpaka 800 N/m ndipo n amayambira 4 mpaka 24. Mphamvu yamagetsi (\(V_{in}\)) idasintha kuchokera ku 4V kupita ku 10V, kutalika kwa waya (\(l_{0} \)) idasintha kuchokera ku 40 kupita ku 100 mm, ndi mbali ya \ rc (\) (0\ ^ 6) \ rc (\) ( ^ 6) \ \ , 2 \ ^ ed = \ \ 0 ^ ed = \ \ ^ ed angle = \ 0 ^ ed = \ ^ ).
Pa mkuyu.6a ikuwonetsa chiwembu chamkuntho chamitundu yosiyanasiyana yolumikizirana pagawo lililonse lokhala ndi zofunikira pakupanga kwamphamvu.Kuchokera mkuyu.6a zitha kuwoneka kuti voteji parameter (\(V_{in}\)) imagwirizana mwachindunji ndi mphamvu yayikulu yotulutsa, ndi convective heat transfer coefficient (\(h_T\)), flame angle (\ (\alpha\)) , displacement spring constant (\(K_x\)) ikugwirizana molakwika ndi mphamvu yotulutsa ndi kutalika kwa SMA n_m_m_mtali (m_) ndi kutalika kwa SMA n_(waya) imasonyeza mgwirizano wamphamvu wotsutsana Pankhani yolumikizana mwachindunji Pankhani ya mtengo wapamwamba wa coefficient yogwirizanitsa magetsi (\ (V_ {in}\)) imasonyeza kuti chizindikiro ichi chimakhala ndi zotsatira zazikulu pa mphamvu ya mphamvu.Kusanthula kwina kofananako kumayesa mphamvu yapamwamba poyesa zotsatira za magawo osiyanasiyana muzosakaniza zosiyana za malo awiri owerengera, monga momwe tawonetsera mkuyu 6b, c.\(V_{in}\) ndi \(l_0\), \(\alpha\) ndi \(l_0\) ali ndi machitidwe ofanana, ndipo graph imasonyeza kuti \(V_{in}\) ndi \(\alpha\ ) ndi \(\alpha\) ali ndi zofanana.Makhalidwe ang'onoang'ono a \(l_0\) amabweretsa mphamvu zapamwamba kwambiri.Magawo ena awiriwa akugwirizana ndi Chithunzi 6a, pomwe n ndi \(K_x\) zimagwirizana molakwika ndipo \(V_{in}\) zimagwirizana bwino.Kusanthula uku kumathandizira kufotokozera ndikusintha magawo omwe amakhudzidwa ndi zomwe mphamvu yotulutsa, sitiroko ndi magwiridwe antchito amagalimoto amatha kusinthidwa malinga ndi zofunikira ndikugwiritsa ntchito.
Ntchito yaposachedwa yofufuza imayambitsa ndikufufuza ma drive omwe ali ndi milingo ya N.Muulamuliro wamagulu awiri, monga momwe tawonetsera mkuyu 7a, kumene m'malo mwa waya uliwonse wa SMA wa actuator ya mlingo woyamba, dongosolo la bimodal limakwaniritsidwa, monga momwe tawonetsera mkuyu.9 ndi.Pa mkuyu.7c ikuwonetsa momwe waya wa SMA amazunguliridwa mozungulira mkono wosunthika (mkono wothandiza) womwe umangoyenda molunjika.Komabe, mkono wosunthika woyambirira umayendabe chimodzimodzi monga mkono wosunthika wa 1st stage multistage actuator.Nthawi zambiri, galimoto ya N-siteji imapangidwa posintha waya wa \(N-1\) SMA siteji ndikuyendetsa gawo loyamba.Chotsatira chake, nthambi iliyonse imatsanzira siteji yoyamba, kupatulapo nthambi yomwe imagwira waya wokha.Mwanjira iyi, zomanga zisa zimatha kupangidwa zomwe zimapanga mphamvu zomwe zimakhala zazikulu kangapo kuposa mphamvu zamagalimoto oyambira.Mu phunziro ili, pamlingo uliwonse, kutalika kwa waya wa SMA kwa mamita 1 kumaganiziridwa, monga momwe tawonetsera muzithunzi za 7d.Zapano kudzera pawaya iliyonse pamapangidwe aliwonse a unimodal ndi zotsatira zake zowongolera ndi magetsi pagawo lililonse la waya wa SMA ndizofanana pamlingo uliwonse.Malingana ndi chitsanzo chathu chowunikira, mphamvu yotulutsa mphamvu imagwirizana bwino ndi msinkhu, pamene kusamutsidwa kumagwirizanitsidwa molakwika.Panthawi imodzimodziyo, panali mgwirizano pakati pa kusamuka kwawo ndi mphamvu ya minofu.Monga tawonera mkuyu.7b, pamene mphamvu yaikulu imapezeka mu chiwerengero chachikulu kwambiri cha zigawo, kusamutsidwa kwakukulu kumawonedwa pamunsi kwambiri.Pamene mlingo wa utsogoleri udakhazikitsidwa ku \ ( N = 5 \ ), mphamvu yapamwamba ya minofu ya 2.58 kN inapezedwa ndi zikwapu zowona za 2 \ (\ upmu \) m.Kumbali ina, gawo loyamba loyendetsa limapanga mphamvu ya 150 N pamtundu wa 277 \ (\ upmu \) m.Ma multilevel actuators amatha kutsanzira minofu yeniyeni yachilengedwe, pomwe minofu yochita kupanga yotengera mawonekedwe amakumbukidwe aloyi imatha kupanga mphamvu zapamwamba kwambiri ndikuyenda bwino komanso koyenda bwino.Zoperewera za mapangidwe ang'onoang'onowa ndikuti pamene utsogoleri ukuwonjezeka, kayendetsedwe kake kamachepetsa kwambiri ndipo zovuta zopangira galimoto zimawonjezeka.
(a) Dongosolo la magawo awiri (\(N=2\)) losanjikiza mawonekedwe a alloy linear actuator system ikuwonetsedwa pakusinthidwa kwa bimodal.Mtundu womwe waperekedwawo umatheka posintha waya wa SMA mu gawo loyamba loyatsira cholumikizira ndi cholumikizira china chimodzi.(c) Kusintha kosinthika kwa gawo lachiwiri la multilayer actuator.(b) Kugawidwa kwa mphamvu ndi kusamuka kutengera kuchuluka kwa magawo akufotokozedwa.Zapezeka kuti mphamvu yapamwamba ya actuator imagwirizana bwino ndi sikelo ya sikelo pa graph, pomwe sitiroko imagwirizana molakwika ndi sikelo.The panopa ndi pre-voltage mu waya aliyense amakhala mosasinthasintha pa milingo yonse.(d) Gome likuwonetsa kuchuluka kwa matepi ndi kutalika kwa waya wa SMA (fiber) pamlingo uliwonse.Makhalidwe a mawaya amasonyezedwa ndi ndondomeko 1, ndipo chiwerengero cha nthambi zachiwiri (imodzi yogwirizana ndi mwendo woyamba) ikuwonetsedwa ndi chiwerengero chachikulu kwambiri cholembera.Mwachitsanzo, pa mlingo 5, \(n_1\) amatanthauza chiwerengero cha mawaya a SMA omwe amapezeka mumtundu uliwonse wa bimodal, ndipo \(n_5\) amatanthauza chiwerengero cha miyendo yothandizira (imodzi yolumikizidwa ndi mwendo waukulu).
Njira zosiyanasiyana zaperekedwa ndi ofufuza ambiri kuti awonetsere machitidwe a SMA ndi kukumbukira mawonekedwe, zomwe zimadalira mphamvu za thermomechanical zomwe zimatsagana ndi kusintha kwa macroscopic mu kapangidwe ka kristalo komwe kumayenderana ndi kusintha kwa gawo.Kupanga njira zovomerezeka kumakhala kovuta.Mtundu womwe umagwiritsidwa ntchito kwambiri ndi Tanaka28 ndipo umagwiritsidwa ntchito kwambiri pazauinjiniya.Chitsanzo cha phenomenological chomwe Tanaka [28] amalingalira kuti gawo la voliyumu ya martensite ndi ntchito yowonjezereka ya kutentha ndi kupsinjika maganizo.Pambuyo pake, Liang ndi Rogers29 ndi Brinson30 adapereka chitsanzo chomwe kusintha kwa gawoli kumaganiziridwa kuti ndi ntchito ya cosine yamagetsi ndi kutentha, ndi kusintha pang'ono kwa chitsanzo.Becker ndi Brinson apereka lingaliro la gawo lotengera mawonekedwe a kinetic kuti atsanzire machitidwe a zida za SMA pansi pamikhalidwe yotsitsa mosasamala komanso kusintha pang'ono.Banerjee32 amagwiritsa ntchito njira yosinthira gawo la Bekker ndi Brinson31 kuti ayesere gawo limodzi lowongolera ufulu lopangidwa ndi Elahinia ndi Ahmadian33.Njira za Kinetic zochokera pazithunzi za gawo, zomwe zimaganizira za kusintha kwa magetsi osagwirizana ndi kutentha ndi kutentha, zimakhala zovuta kuzigwiritsa ntchito popanga uinjiniya.Elakhinia ndi Ahmadian amayang'ana zophophonya izi zamitundu yomwe ilipo ndikupangira njira yotalikirapo yowunikira ndikutanthauzira mawonekedwe amakumbukidwe pamikhalidwe iliyonse yovuta.
Mtundu wamapangidwe a waya wa SMA umapereka kupsinjika (\(\sigma\)), kupsyinjika (\(\epsilon\)), kutentha (T), ndi gawo la martensite volume (\(\xi\))) la waya wa SMA.Mtundu wa phenomenological constitutive udaperekedwa koyamba ndi Tanaka28 ndipo pambuyo pake adatengedwa ndi Liang29 ndi Brinson30.Chotsatira cha equation chili ndi mawonekedwe:
kumene E ndi gawo lodalira SMA Young's modulus yopezedwa pogwiritsa ntchito \(\displaystyle E=\xi E_M + (1-\xi )E_A\) ndi \(E_A\) ndi \(E_M\) yoyimira Young's modulus ndi austenitic ndi martensitic phases, motsatana, ndi coefficient of therta expansion _T\ ndi).Gawo la kusintha kwa gawo ndi \(\Omega = -E \epsilon _L\) ndi \(\epsilon _L\) ndiye vuto lalikulu lomwe lingabwezere muwaya wa SMA.
Gawo la dynamics equation limagwirizana ndi ntchito ya cosine yomwe idapangidwa ndi Liang29 ndipo pambuyo pake idatengedwa ndi Brinson30 m'malo mwa ntchito yofotokozera yomwe Tanaka28 adalemba.Mtundu wa kusintha kwa gawo ndikuwonjezera kwachitsanzo chomwe chinaperekedwa ndi Elakhinia ndi Ahmadian34 ndikusinthidwa kutengera zomwe zidaperekedwa ndi Liang29 ndi Brinson30.Zomwe zimagwiritsidwa ntchito pakusintha kwa gawoli ndizovomerezeka pansi pa katundu wovuta wa thermomechanical.Pa mphindi iliyonse ya nthawi, mtengo wa gawo la voliyumu ya martensite umawerengedwa popanga chitsanzo cha constitutive equation.
The retransformation equation yolamulira, yowonetsedwa ndi kusintha kwa martensite kukhala austenite pansi pa kutentha, ndi motere:
komwe \(\xi\) ndi gawo la voliyumu ya martensite, \(\xi _M\) ndi gawo la voliyumu ya martensite yomwe idapezedwa isanatenthedwe, \(\displaystyle a_A = \pi /(A_f - A_s)\), \ (\displaystyle b_A = -a_A/C_A\) ndi \(C_A\) - s curve (s) ″ app _ curve (sma) - curve (s) ″ app _ ℃ _f\) - chiyambi ndi mapeto a gawo la austenite, motero, kutentha.
Kusintha kwachindunji kuwongolera equation, kuyimiridwa ndi kusintha kwa gawo la austenite kukhala martensite pansi pazikhalidwe zozizirira, ndi:
kumene \(\xi _A\) ndi gawo la voliyumu ya martensite yomwe idapezedwa isanazizidwe, \(\displaystyle a_M = \pi /(M_s - M_f)\), \(\displaystyle b_M = -a_M/C_M\) ndi \ ( C_M \) - magawo opindika opindika, T - SMA mawaya_ kutentha koyambirira, \ m'malo otentha, marten - kutentha koyambirira, ndi \ ten. ly.
Ma equation (3) ndi (4) akasiyanitsidwa, ma equation osinthika ndi achindunji amasinthidwa kukhala mawonekedwe awa:
Pakusintha kutsogolo ndi kumbuyo \(\eta _{\sigma}\) ndi \(\eta _{T}\) zimatengera zinthu zosiyanasiyana.Ma equation oyambira okhudzana ndi \(\eta _{\sigma}\) ndi \(\eta _{T}\) atengedwa ndikukambidwa mwatsatanetsatane mu gawo lowonjezera.
Mphamvu zotentha zomwe zimafunikira kukweza kutentha kwa waya wa SMA zimachokera ku Joule Heating effect.Mphamvu yotentha yomwe imatengedwa kapena kutulutsidwa ndi waya wa SMA imayimiridwa ndi kutentha kobisika kwakusintha.Kutayika kwa kutentha mu waya wa SMA kumachitika chifukwa cha kugwedezeka mokakamiza, ndipo chifukwa cha kuchepa kwa ma radiation, kutentha kwa mphamvu ya kutentha kuli motere:
Kumene \(m_{waya}\) ndi chiwerengero chonse cha waya wa SMA, \(c_{p}\) ndi mphamvu yeniyeni ya kutentha kwa SMA, \ (V_{in}\) ndi magetsi omwe amagwiritsidwa ntchito pa waya, \ (R_{ohm} \ ) - kukana kwa gawo-kudalira SMA, kufotokozedwa ngati;\(R_{ohm} = (l/A_{mtanda})[\xi r_M + (1-\xi )r_A]\ ) kumene \(r_M\ ) ndi \(r_A\) ndi SMA gawo resistivity mu martensite ndi austenite, motero, \(A_{c}\) ndi pamwamba dera la SMA ndi kukumbukira.Kutentha kobisika kwa kusintha kwa waya, T ndi \(T_{\ infty}\) ndi kutentha kwa waya wa SMA ndi chilengedwe, motsatira.
Waya wa aloyi wokumbukira mawonekedwe akayatsidwa, wayawo amakanikizana, ndikupanga mphamvu panthambi iliyonse ya kapangidwe kake kotchedwa fiber force.Mphamvu za ulusi mu chingwe chilichonse cha waya wa SMA pamodzi zimapanga mphamvu ya minofu kuti igwire ntchito, monga momwe tawonetsera pa Chithunzi 9e.Chifukwa cha kukhalapo kwa kasupe wokondera, mphamvu yonse ya minofu ya Nth multilayer actuator ndi:
Kulowetsa \ (N = 1 \) mu equation (7), mphamvu ya minofu ya gawo loyamba la bimodal drive prototype ikhoza kupezeka motere:
kumene n ndi chiwerengero cha miyendo ya unimodal, \ (F_m \) ndi mphamvu ya minofu yopangidwa ndi galimoto, \ (F_f \) ndi mphamvu ya fiber mu waya wa SMA, \ (K_x \) ndi kuuma kokhazikika.masika, \(\ alpha\) ndi ngodya ya makona atatu, \(x_0\) ndiye njira yoyambira ya kasupe wa tsankho kuti agwire chingwe cha SMA pamalo okhazikika, ndipo \(\ Delta x\) ndiye kuyenda kwa actuator.
Kusamuka kwathunthu kapena kusuntha kwa galimoto (\(\ Delta x\)) malingana ndi voteji (\(\ sigma\))) ndi kupsyinjika (\(\epsilon\)) pa waya wa SMA wa Nth siteji, galimotoyo imayikidwa (onani mkuyu gawo lina la zotsatira):
Ma kinematic equations amapereka ubale pakati pa kuyendetsa galimoto (\(\epsilon\)) ndi kusamuka kapena kusamuka (\(\Delta x\)).Kusinthika kwa waya wa Arb ngati ntchito ya kutalika kwa waya wa Arb (\(l_0\)) ndi kutalika kwa waya (l) nthawi iliyonse t munthambi imodzi yokha ndi motere:
kumene \(l = \sqrt{l_0^2 +(\Delta x_1)^2 – 2 l_0 (\Delta x_1) \cos \alpha _1}\) imapezeka pogwiritsira ntchito ndondomeko ya cosine mu \(\Delta\)ABB', monga momwe tawonetsera pa Chithunzi 8. Pa gawo loyamba loyendetsa (\) (x) x, (N = \ Del) = \ (N = \ Del) = \ (N = \ Del) \ Del ndipo \(\ alpha _1\) ndi \(\ alpha \) monga momwe zasonyezedwera mu Chithunzi 8, posiyanitsa nthawi kuchokera ku Equation (11) ndikulowetsa mtengo wa l, kuchuluka kwa zovuta kungalembedwe motere:
kumene \ ( l_0 \) ndi kutalika koyambirira kwa waya wa SMA, l ndi kutalika kwa waya nthawi iliyonse t mu nthambi imodzi ya unimodal, \ (\ epsilon \) ndi mapindikidwe opangidwa mu waya wa SMA, ndipo \ (\ alpha \) ndi ngodya ya makona atatu , \ (\ Delta x \) ndi drive offset (monga momwe tawonetsera mu chithunzi 8).
Zonse za n zokhala ndi nsonga imodzi (\(n=6\) pachithunzichi) zimalumikizidwa motsatizana ndi \(V_{in}\) ngati mphamvu yolowera.Gawo 1: Chithunzi chojambula cha waya wa SMA mu kasinthidwe ka bimodal pansi pa ziro voltage Gawo II: Kapangidwe koyendetsedwa kakuwonetsedwa komwe waya wa SMA wapanikizidwa chifukwa cha kutembenuka kosiyana, monga momwe zikuwonekera ndi mzere wofiira.
Monga umboni wa lingaliro, ma drive a SMA-based bimodal drive adapangidwa kuti ayesere kutengera koyerekeza kwa ma equation oyambira ndi zotsatira zoyesera.Chitsanzo cha CAD cha bimodal linear actuator chikuwonetsedwa mkuyu.9 a.Kumbali ina, mu mkuyu.9c ikuwonetsa kapangidwe katsopano kamene kakukonzedwa kuti pakhale kulumikizana kozungulira kwa prismatic pogwiritsa ntchito cholumikizira chamitundu iwiri cha SMA chokhala ndi mawonekedwe abimodal.Zida zoyendetsa zidapangidwa pogwiritsa ntchito zopangira zowonjezera pa chosindikizira cha Ultimaker 3 Extended 3D.Zomwe zimagwiritsidwa ntchito posindikiza zigawo za 3D ndi polycarbonate yomwe ili yoyenera kuzinthu zosagwirizana ndi kutentha chifukwa ndi yamphamvu, yokhazikika komanso imakhala ndi kutentha kwa galasi (110-113 \(^{\circ }\) C).Komanso, Dynalloy, Inc. Flexinol mawonekedwe kukumbukira aloyi waya anagwiritsidwa ntchito mu zoyesera, ndi zinthu zakuthupi zogwirizana ndi waya Flexinol anagwiritsidwa ntchito poyerekezera.Mawaya angapo a SMA amakonzedwa ngati ulusi womwe ulipo mu dongosolo la bimodal la minofu kuti apeze mphamvu zapamwamba zomwe zimapangidwa ndi multilayer actuators, monga momwe tawonetsera pa Chithunzi 9b, d.
Monga momwe tawonetsera pa Chithunzi 9a, ngodya yokhazikika yopangidwa ndi waya wosunthika wa SMA imatchedwa ngodya (\(\ alpha\)).Ndi zingwe zotsekera zomangika kumanzere ndi kumanja, waya wa SMA umakhala ndi ngodya yofunidwa ya bimodal.Chipangizo cha bias spring chomwe chimagwiridwa pa cholumikizira kasupe chimapangidwa kuti chizisintha magulu osiyanasiyana owonjezera a kasupe malinga ndi kuchuluka (n) kwa ulusi wa SMA.Kuphatikiza apo, malo omwe amasuntha amapangidwa kuti waya wa SMA awonetsedwe ndi chilengedwe chakunja kuti azizizira mokakamiza.Ma mbale apamwamba ndi apansi a gulu lotayika amathandiza kuti waya wa SMA ukhale woziziritsa ndi ma cutouts opangidwa kuti achepetse kulemera.Kuphatikiza apo, malekezero onse a waya wa CMA amakhazikika kumanzere ndi kumanja, motsatana, pogwiritsa ntchito crimp.Plunger imamangiriridwa kumalekezero amodzi a gulu losunthika kuti likhalebe pakati pa mbale zapamwamba ndi zapansi.Plunger imagwiritsidwanso ntchito kuyika mphamvu yotchinga ku sensa kudzera pagulu kuti athe kuyeza mphamvu yotsekereza pomwe waya wa SMA walumikizidwa.
Bimodal muscle structure SMA imalumikizidwa ndi magetsi motsatizana ndipo imayendetsedwa ndi voliyumu yolowera.Panthawi ya voltage pulse cycle, magetsi akagwiritsidwa ntchito ndipo waya wa SMA umatenthedwa pamwamba pa kutentha koyambirira kwa austenite, kutalika kwa waya mu chingwe chilichonse kumafupikitsidwa.Kuchotsa uku kumatsegula mkono wosunthika.Mphamvu yamagetsi itasinthidwa mofanana, waya wotenthedwa wa SMA udakhazikika pansi pa kutentha kwa pamwamba pa martensite, potero kubwerera kumalo ake oyambirira.Pansi pazovuta za zero, waya wa SMA umayamba kutambasulidwa pang'onopang'ono ndi kasupe wokondera kuti akafike kudera la martensitic.Zomangira, zomwe waya wa SMA umadutsa, zimayenda chifukwa cha kukanikizana komwe kumapangidwa pogwiritsa ntchito kugunda kwamagetsi ku waya wa SMA (SPA ifika pagawo la austenite), zomwe zimatsogolera kumayendedwe a lever yosunthika.Waya wa SMA ukabwezedwa, kasupe wokondera amapanga mphamvu yotsutsa powonjezera kasupe.Kupsyinjika mu mphamvu yamagetsi ikakhala ziro, waya wa SMA umatalikirana ndikusintha mawonekedwe ake chifukwa cha kuziziritsa kokakamiza, kufikira gawo lachiwiri la martensitic.
Dongosolo la SMA-based linear actuator lili ndi masinthidwe abimodal momwe mawaya a SMA amapindika.(a) akuwonetsa chitsanzo cha CAD cha prototype, chomwe chimatchula zigawo zina ndi matanthauzo ake a prototype, (b, d) zimayimira prototype yoyeserera35.Pomwe (b) akuwonetsa mawonekedwe apamwamba a choyimiracho chokhala ndi zolumikizira zamagetsi ndi zoyambira zokondera komanso zoyezera zovuta zomwe zimagwiritsidwa ntchito, (d) zikuwonetsa mawonekedwe a kukhazikitsidwa.(e) Chithunzi cha linear actuation system yokhala ndi mawaya a SMA omwe amayikidwa bimodally nthawi iliyonse t, kuwonetsa komwe akulowera komanso kulimba kwa ulusi ndi minofu.(c) Kulumikizana kwa prismatic kwa 2-DOF kwaperekedwa kuti atumize makina opangira ndege a SMA-based actuator.Monga momwe zasonyezedwera, ulalowo umatumiza kusuntha kwa mzere kuchokera pansi pagalimoto kupita ku dzanja lapamwamba, ndikupanga kulumikizana kozungulira.Kumbali inayi, kusuntha kwa ma prisms ndikofanana ndi kuyenda kwa multilayer first stage drive.
Kafukufuku woyesera anachitidwa pa chitsanzo chomwe chikuwonetsedwa mu Mkuyu 9b kuti awone momwe kayendetsedwe ka bimodal drive ikuyendera pa SMA.Monga momwe chithunzi 10a chikusonyezera, khwekhwe loyesera linali ndi magetsi osinthika a DC kuti apereke magetsi olowera ku mawaya a SMA.Monga momwe tawonetsera mkuyu.10b, piezoelectric strain gauge (PACEline CFT/5kN) idagwiritsidwa ntchito kuyeza mphamvu yotchinga pogwiritsa ntchito Graphtec GL-2000 data logger.Detayo imalembedwa ndi wolandirayo kuti apitirize kuphunzira.Ma geji a strain ndi ma amplifiers amatchaji amafunikira magetsi osatha kuti apange chizindikiro chamagetsi.Zizindikiro zofananira zimasinthidwa kukhala zotulutsa mphamvu molingana ndi kukhudzidwa kwa mphamvu ya piezoelectric mphamvu sensor ndi magawo ena monga tafotokozera mu Table 2. Pamene phokoso lamagetsi likugwiritsidwa ntchito, kutentha kwa waya wa SMA kumawonjezeka, kuchititsa kuti waya wa SMA ukhale wolimba, zomwe zimapangitsa kuti actuator apange mphamvu.Zotsatira zoyesera za kutulutsa kwamphamvu kwa minofu ndi mphamvu yamagetsi yamagetsi ya 7 V ikuwonetsedwa mkuyu.2 a.
(a) Dongosolo la SMA-based linear actuator lidakhazikitsidwa pakuyesa kuyeza mphamvu yopangidwa ndi actuator.Selo yonyamula imayesa mphamvu yotsekereza ndipo imayendetsedwa ndi magetsi a 24 V DC.Kutsika kwamagetsi kwa 7 V kunagwiritsidwa ntchito kutalika kwa chingwecho pogwiritsa ntchito magetsi a GW Instek okonzedwa ndi DC.Waya wa SMA umachepa chifukwa cha kutentha, ndipo mkono wosunthika umalumikizana ndi selo yonyamula katundu ndikuchita mphamvu yotchinga.Selo yonyamula imalumikizidwa ndi logger ya data ya GL-2000 ndipo deta imasungidwa pagulu kuti ikonzedwenso.(b) Chithunzi chosonyeza mndandanda wa zigawo za kuyesa koyesa kuyesa mphamvu ya minofu.
Mawonekedwe aloyi kukumbukira amasangalala ndi mphamvu matenthedwe, kotero kutentha kumakhala chinthu chofunika kwambiri pophunzira mawonekedwe kukumbukira chodabwitsa.Mwachidziwitso, monga momwe tawonetsera mkuyu 11a, kujambula kwa kutentha ndi kuyeza kwa kutentha kunachitidwa pa prototype SMA-based divalerate actuator.Dongosolo losasinthika la DC linagwiritsa ntchito magetsi olowera ku mawaya a SMA poyeserera, monga zikuwonekera pachithunzi 11b.Kusintha kwa kutentha kwa waya wa SMA kunayesedwa mu nthawi yeniyeni pogwiritsa ntchito kamera yapamwamba ya LWIR (FLIR A655sc).Wolandirayo amagwiritsa ntchito pulogalamu ya ResearchIR kuti alembe zambiri kuti apitilize kukonza pambuyo pake.Mphamvu yamagetsi ikagwiritsidwa ntchito, kutentha kwa waya wa SMA kumawonjezeka, zomwe zimapangitsa kuti waya wa SMA achepetse.Pa mkuyu.Chithunzi 2b chikuwonetsa zotsatira zoyesera za kutentha kwa waya wa SMA motsutsana ndi nthawi ya 7V yolowera magetsi.
Nthawi yotumiza: Sep-28-2022