H-브릿지 회로를 이용한 형상기억합금 액츄에이터의 온도제어

다국어 초록 (Multilingual Abstract)

In recent years, one of the main obstacles to develop an anthropomorphic robot is the construction of a mechanism that can perform motion with multiple degrees of freedom. As robot industry is focused on humanoid robot, the smart materials are used as artificial muscle actuator of humanoid robot that enables a robot to move dexterously and versatilely. Using shape memory alloy actuators provides an interesting alternative to conventional actuator driving. Their advantages create a means drastically to reduce the size, weight, and complexity of robotic systems. SMA actuators also possess an extremely high force-to-weight ratio. However, characteristics of SMA wire are hysteresis and stress dependance.
In this paper, temperature control of shape memory alloy actuator using H-bridge circuit is studied. The segmental mechanism is applied for control of SMA wire. H-bridge circuit changes the flow direction of the current in order to carry out cooling and heating in same side of TEM, simultaneously. To reduce the latency time of SMA wire, the hysteresis loop control method is used.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 구간분할 메커니즘
• 3. 구간분할 메커니즘
• 4. 결론
• 참고문헌