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Article Dans Une Revue IEEE Robotics and Automation Letters Année : 2021

A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures

Résumé

In this letter, a hybrid model for single-crystal Shape Memory Alloy (SMA) wire actuators is presented. The result is based on a mathematical reformulation of the Müller-Achenbach-Seelecke (MAS) model, which provides an accurate and interconnection-oriented description of the SMA hysteretic response. The strong nonlinearity and high numerical stiffness of the MAS model, however hinder its practical use for simulation and control of complex SMA-driven systems. The main idea behind the hybrid reformulation is based on dividing the mechanical hysteresis of the SMA into five operating modes, each one representing a different physical state of the material. By properly deriving the switching conditions among those modes in a physically-consistent way, the MAS model is effectively reformulated within a hybrid dynamical setting. The main advantage of the hybrid reformulation is the possibility of describing the material dynamics with a simplified set of state equations while maintaining all benefits of the physics-based description offered by the MAS model. After describing the novel approach, simulation studies are conducted on a flexible robotic module actuated by protagonist-antagonist SMA wires. Through comparative numerical analysis, it is shown how the hybrid model provides the same accuracy as the MAS model while saving up to 80% of the simulation time. Moreover, the new modeling framework opens up the possibility of addressing SMA control from a hybrid systems perspective.

Dates et versions

hal-03148009 , version 1 (21-02-2021)

Identifiants

Citer

Michele Arcangelo Mandolino, Francesco Ferrante, Gianluca Rizzello. A Hybrid Dynamical Modeling Framework for Shape Memory Alloy Wire Actuated Structures. IEEE Robotics and Automation Letters, 2021, 6 (2), pp.3886-3893. ⟨10.1109/LRA.2021.3067254⟩. ⟨hal-03148009⟩
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