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위치 제어를 위한 SMA(Shape Memory Alloy) 매니퓰레이터 설계
이승열(Seok-jong Yu),유석종(Seung-yeol Lee),유병갑(Byung-gab Yu),한창수(Chang-soo Han) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
This paper describes a new mechanism for improving the force of actuators based on shape memory alloys (SMA) by increasing the number at which a coil pattern SMA spring can evenly be heated. This structure accomplishes a high efficient transformation between force and displacement overcoming the main mechanical drawback of shape memory alloys, that being the limit strain. A pantograph manipulator actuated by the introduced new mechanism has been designed for this research. Mechanical structure and driving mechanism of this manipulator are described in detail, and its control algorithm and current amplifier circuit in a position control system are designed.