Mathematical modeling and control of textile-reinforced composites embedded with shape memory alloy actuatorsThursday (24.09.2020) 14:30 - 14:45 Z: Special Symposia II Part of:
There has been an increasing interest in the use of soft robots because of the good performance of these materials in environments which is not best suited for conventional rigid bodies. Soft robots are mainly composed of materials with low Young’s modulus such as silicone, rubber, or other elastomeric polymers. The strength and stiffness of these soft materials can be improved by adding reinforcement materials such as fibers. The resulting combination called textile reinforced composites is lightweight, strong and resistant which makes it ideal for diverse robotics applications. The elastic properties of these composites, on the other hand, require smart actuators which possess adaptability and deformability. Among different smart materials, shape memory alloys (SMA) have been frequently adopted in flexible structures and have shown effective shape changing abilities. Nevertheless, the performance of these actuators depends significantly on the accuracy of its controls, which is in turn dependent on the SMAs mathematical model. It is therefore, the purpose of this work to present the mathematical modeling and control of the fiber-reinforced elastomer composites embedded with shape memory alloys. The dynamic model of the system is obtained by integrating the constitutive model of SMA actuator and the bending model of the composite. Based on the developed mathematical model, a control algorithm is designed to control the deflection of the system. Simulation and experimental results show that the presented mathematical model is able to describe the system behavior with an adequate accuracy and the controller can effectively stabilize the system at a desired deflection.