A model of motion of an agonistic–antagonistic shape memory alloy actuator is developed in this article. The model shows that the dynamics of the actuator can be well described by a nonlinear motion model of human muscle with nonlinear damping. To complete the model, a method for the determination of the damping properties of the actuator system is suggested. To this end, an analytical expression for the damping coefficient of the system was developed. The experimental verification of the proposed model of motion was conducted through a comparison of the experimentally measured and numerically simulated step responses. The simulated step responses were in close agreement with their experimentally measured counterparts on the shape memory alloy actuator prototype.
AbadieJChailletNLexcellentC (2002) An integrated shape memory alloy micro-actuator controlled by thermoelectric effect. Sensors and Actuators A: Physical99: 297–303.
2.
AbadieJChailletNLexcellentC (2009) Modeling of new SMA micro-actuator for active endoscopy applications. Mechatronics19(4): 437–442.
3.
AdhikariSWoodhouseJ (2001) Identification of damping: part 1, viscous damping. Journal of Sound and Vibration243(1): 43–61.
4.
BenzaouiHChailletNLexcellentC. (1999) Nonlinear motion and force control of shape memory alloys actuators. In: Proceedings of SPIE conference on mathematics and control in smart structures, vol. 3667, Newport Beach, CA, 1 March, pp. 337–348. Bellingham, WA: SPIE.
5.
BrinsonLCBekkerAHwangS (1996) Deformation of shape memory alloys due to thermo-induced transformation. Journal of Intelligent Material Systems and Structures7: 97–107.
6.
ChanthasopeephanTJairakreanS (2009) Position control of SMA actuator for 3D tactile display. In: Proceeding of IEEE 11th international conference on rehabilitation robotics, Kyoto International Conference Center, Kyoto, Japan, 23–26 June, pp. 234–239. New York: IEEE.
7.
ElahiniaMHAshrafiuonH (2002) Nonlinear control of a shape memory alloy actuated manipulator. Journal of Vibration and Acoustics: Transactions of the ASME124(4): 566–575.
8.
FevrierAFauvelQCarbonelN. (2013) Big-Stiquito: an enlarged and faster version of the autonomous Stiquito hexapod robot. In: Proceedings of 2013 IEEE international conference on mechatronics (ICM), Vicenza, 27 February–1 March, pp. 329–334. New York: IEEE.
9.
GaulL (1999) The influence of damping on waves and vibrations. Mechanical Systems and Signal Processing13(1): 1–30.
10.
GawronskiWK (2004) Advanced Structural Dynamics and Active Control of Structures. New York: Springer-Verlag, 418 pp.
11.
G´edouinP-AJoinCDelaleauE. (2008) Model-free control of shape memory alloys antagonistic actuators. In: Proceedings of 17th IFAC World Congress, vol. 17, no. 1, Seoul, Korea, 6–11 July.
12.
HeinonenJVessonenIKlingeO. (2008) Controlling stiffness of the frame spring by changing the boundary condition with an SMA actuator. Computers & Structures86: 398–406.
13.
JanaidehMABernsteinDS (2013) Inversion-free adaptive control of uncertain systems with shape-memory-alloy actuation. In: Proceedings of 2013 American control conference (ACC), Washington, DC, 17–19 June, pp. 3585–3590. New York: IEEE.
14.
KannanSGirad-AudineCPatoorE (2010) Laguerre model based adaptive control of antagonistic shape memory alloy (SMA) actuator. In: Proceedings of SPIE, vol. 7643, San Diego, CA, 7 March, pp. 764307-1–764307-11. Bellingham, WA: SPIE.
15.
LéchevinNRabbathCA (2005) Quasipassivity-based robust nonlinear control synthesis for flap positioning using shape memory alloy micro-actuators. In: Proceedings of 2005 American control conference (ACC), 8–10 June, Portland, Oregon, pp. 3019–3024. New York: IEEE.
16.
MalukhinKEhmannK (2007) Model of motion of an actuator based on a NiTi shape memory alloy. In: Proceedings of the 2nd international conference on micro-manufacturing (ICOMM 2007), Greenville, SC, 10–13 September, pp. 247–251. Clemson University.
17.
MalukhinKEhmannK (2012) A model of the kinetics of the temperature-induced phase transformation in NiTi alloys and its experimental verification. Journal of Intelligent Material Systems and Structures23(1): 32–41.
18.
PhaniASWoodhouseJ (2007) Viscous damping identification in linear vibration. Journal of Sound and Vibration303: 475–500.
19.
PreumontASetoK (2008) Active Control of Structures. Chichester: John Wiley & Sons, Ltd, 312 pp.
20.
StaszewskiWJ (1997) Identification of damping in MDOF systems using time-scale decomposition. Journal of Sound and Vibration203(2): 283–305.
21.
SunDChenZZhouF. (2010) Modeling and identification of a vibration isolation system with hysteretic damping. In: Proceedings of the 2010 IEEE international conference on information and automation, Harbin, China, 20–23 June, pp. 2044–2049. New York: IEEE.
22.
TaiNTAhnKK (2010) Apply adaptive fuzzy sliding mode control to SMA actuator. In: Proceedings of 2010 international conference on control automation and systems, Gyeonggi-do, South Korea, 27–30 October, pp. 433–437. New York: IEEE.
23.
WangT-MShiZ-YLiuD. (2012) An accurately controlled antagonistic shape memory alloy actuator with self-sensing. Sensors12(6): 7682–7700.
24.
WebbGVLagoudasDC (1998) Hysteresis modeling of SMA actuators for control applications. Journal of Intelligent Material Systems and Structures9: 432–448.
25.
WoodhouseJ (1998) Linear damping models for structural vibrations. Journal of Sound and Vibration215(3): 547–569.
26.
WuCHHoukJCYoungK-Y. (1990) Nonlinear damping of limb motion. In: WintersJMWoo SavioL-Y (eds) Multiple Muscle Systems: Biomechanics and Movement Organization. pp. 214–235. New York: Springer-Verlag.
27.
WuZLiuHLiuL. (2007) New methods for nonlinear damping identification of damping alloy. Journal of Vibration and Acoustics: Transactions of the ASME129: 678–684.
