Abstract
We perform the experimental study on the precision positioning capability of SMA actuators, with the aim of evaluating practical applicability of the SMA actuator to the field of precision engineering. For the aim, we focus on assessing the positioning accuracy and the minimum step-size of the SMA actuator quantitatively. In the accuracy test measuring the positioning tracking error, the position generated by the SMA actuator is controlled with three different position-control schemes: position-control with (1) only hysteresis compensator, (2) only PID controller, and (3) with PID controller with hysteresis compensator. The experimental results indicate that the smallest positioning RMSE of 0.0081%, 0.0124%, and 1.1314% for the triangular, sinusoidal, and square reference input, respectively, can be achieved by applying the PID controller with hysteresis compensator. And, the minimum incremental and decremental step-size is observed as 8.2 μm for the case that the full-stroke (FS) is about 6.4 mm (i.e., 0.13% FS).
Similar content being viewed by others
References
Akhras G (2000) Smart materials and smart systems for the future. Can Mil J 1(3):25–31
Asua E, Garcia-Arribas A, Etxebarria V (2008) Micropositioning using shape memory alloy actuators. Eur Phys J Spec Topics 158:231–236
Cheng SS, Kim Y, Desai JP (2017) Modeling and characterization of shape memory alloy springs with water cooling strategy in a neurosurgical robot. J Intell Mater Syst Struct 28(16):2167–2183
Feng Y, Rabbath CA, Hong H, Janaideh MA, Su C (2010) Robust control for shape memory alloy micro-actuators based flap positioning system. In: 2010 American control conference, pp 4181–4186
Feninat FE, Laroche G, Fiset M, Mantovani D (2002) Shape memory materials for biomedical applications. Adv Eng Mater 4(3):91–104
Hartl D, Lagoudas DC (2007) Aerospace applications of shape memory alloys. Inst Mech Eng G J Aerosp Eng 221(4):535–552
Huber JE, Fleck NA, Ashby MF (1997) The selection of mechanical actuators based on performance indices, proceedings: mathematical. Phys Eng Sci 453(1965):2185–2205
Hwang D, Higuchi T (2014) A rotary actuator using shape memory alloy (SMA) wires. IEEE/ASME Trans Mechatron 19(5):1625–1635
Hwang D, Lee J, Kim K (2017) On the design of a miniature haptic ring for cutaneous force feedback using shape memory alloy actuators. Smart Mater Struct 26(10):105002
Kheirikhah MM, Rabiss S, Edalat ME (2011) A review of shape memory alloy actuators in robotics. Lect Notes Comput Sci 6556:206–217
Kode VRC, Cavusoglu MC (2007) Design and characterization of a novel hybrid actuator using shape memory alloy and DC micromotor for minimally invasive surgery applications. IEEE/ASME Trans Mechatron 12(4):455–464
Konh B, Datla NV, Hutapea P (2015) Feasibility of shape memory alloy wire actuation for an active steerable cannula. J Med Dev 9:021002-1
Ma N, Song G, Lee HJ (2004) Position control of shape memory alloy actuators with internal electrical resistance feedback using neural networks. Smart Mater Struct 13:777–783
Monner HP (2005) Smart materials for active noise and vibration reduction. Noise and Vibration: Emerging Methods (Novem 2005), pp 1–17
Park S, Jang N, Ihn YS, Yang S, Jeong J, Yim S, Oh S, Kim K, Hwang D (2020) A tele-operated microsurgical forceps-driver with a variable stiffness haptic feedback master device. IEEE Rob Autom Lett 5(2):1946–1953
Shi ZY, Liu D, Wang TM (2014) A shape memory alloy-actuated surgical instrument with compact volume. Int J Med Robot 10:474–481
Shi Z, Zhu Q, Yuan P (2016) A compact and stiffer shape memory alloy actuator for surgical instruments. In: Proceedings of 2016 IEEE international conference on mechatronics and automation, pp 477–484
Stoeckel D (1990) Shape memory actuators for automotive applications. Mater Des 11(6):302–307
Topliss R (2011) Shape memory alloy actuation apparatus, U.S. Patent 7,974,025 B2
Wang T, Shi Z, Liu D, Ma C, Zhang Z (2012) An accurately controlled antagonistic shape memory alloy actuator with self-sensing. Sensors 12:7682–7700
Acknowledgements
This work was supported in part by the Convergence Technology Development Program for Bionic Arm through the NRF funded by the MSIP under Grant 2014M3C1B2048419 and in part by the Korea Institute of Science and Technology Institutional Program.
Author information
Authors and Affiliations
Corresponding author
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Park, S., Hwang, D. An experimental study on precision positioning characteristics of shape memory alloy actuator. Microsyst Technol 26, 2801–2807 (2020). https://doi.org/10.1007/s00542-020-04853-2
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00542-020-04853-2