21104 PS超弾性合金アクチュエーターの制御のための状態量計測システムの開発(OS10-3【ロボティクス・メカトロニクス(3)】)

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  • 21104 System Development Measuring State Quantities for Control of Actuator using Prestressed Super Elastic Alloy

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Super elastic alloy wire has good flexibility and active deformation properties. In addition, super elastic alloy has the two-way deformation by heating and cooling under prestressed conditions. Utilizing this characteristic, super elastic alloy wire can be used as actuator. In order to control the deformation of super elastic alloy as actuator, it is necessary to monitor the state of the alloy. In this study, super elastic alloy wire is heated by Joule heating, which is easy to control electrically. Therefore, electrical systems are developed to measure the state quantities of temperature, strain and electric resistivity of the alloy during the Joule heating for its mechatronical control.

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