Skip to main content
Log in

An experimental study on precision positioning characteristics of shape memory alloy actuator

  • Technical Paper
  • Published:
Microsystem Technologies Aims and scope Submit manuscript

Abstract

We perform the experimental study on the precision positioning capability of SMA actuators, with the aim of evaluating practical applicability of the SMA actuator to the field of precision engineering. For the aim, we focus on assessing the positioning accuracy and the minimum step-size of the SMA actuator quantitatively. In the accuracy test measuring the positioning tracking error, the position generated by the SMA actuator is controlled with three different position-control schemes: position-control with (1) only hysteresis compensator, (2) only PID controller, and (3) with PID controller with hysteresis compensator. The experimental results indicate that the smallest positioning RMSE of 0.0081%, 0.0124%, and 1.1314% for the triangular, sinusoidal, and square reference input, respectively, can be achieved by applying the PID controller with hysteresis compensator. And, the minimum incremental and decremental step-size is observed as 8.2 μm for the case that the full-stroke (FS) is about 6.4 mm (i.e., 0.13% FS).

This is a preview of subscription content, log in via an institution to check access.

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7

Similar content being viewed by others

References

  • Akhras G (2000) Smart materials and smart systems for the future. Can Mil J 1(3):25–31

    Google Scholar 

  • Asua E, Garcia-Arribas A, Etxebarria V (2008) Micropositioning using shape memory alloy actuators. Eur Phys J Spec Topics 158:231–236

    Article  Google Scholar 

  • Cheng SS, Kim Y, Desai JP (2017) Modeling and characterization of shape memory alloy springs with water cooling strategy in a neurosurgical robot. J Intell Mater Syst Struct 28(16):2167–2183

    Article  Google Scholar 

  • Feng Y, Rabbath CA, Hong H, Janaideh MA, Su C (2010) Robust control for shape memory alloy micro-actuators based flap positioning system. In: 2010 American control conference, pp 4181–4186

  • Feninat FE, Laroche G, Fiset M, Mantovani D (2002) Shape memory materials for biomedical applications. Adv Eng Mater 4(3):91–104

    Article  Google Scholar 

  • Hartl D, Lagoudas DC (2007) Aerospace applications of shape memory alloys. Inst Mech Eng G J Aerosp Eng 221(4):535–552

    Google Scholar 

  • https://cambridgemechatronics.com

  • Huber JE, Fleck NA, Ashby MF (1997) The selection of mechanical actuators based on performance indices, proceedings: mathematical. Phys Eng Sci 453(1965):2185–2205

    Article  Google Scholar 

  • Hwang D, Higuchi T (2014) A rotary actuator using shape memory alloy (SMA) wires. IEEE/ASME Trans Mechatron 19(5):1625–1635

    Article  Google Scholar 

  • Hwang D, Lee J, Kim K (2017) On the design of a miniature haptic ring for cutaneous force feedback using shape memory alloy actuators. Smart Mater Struct 26(10):105002

    Article  Google Scholar 

  • Kheirikhah MM, Rabiss S, Edalat ME (2011) A review of shape memory alloy actuators in robotics. Lect Notes Comput Sci 6556:206–217

    Article  Google Scholar 

  • Kode VRC, Cavusoglu MC (2007) Design and characterization of a novel hybrid actuator using shape memory alloy and DC micromotor for minimally invasive surgery applications. IEEE/ASME Trans Mechatron 12(4):455–464

    Article  Google Scholar 

  • Konh B, Datla NV, Hutapea P (2015) Feasibility of shape memory alloy wire actuation for an active steerable cannula. J Med Dev 9:021002-1

    Google Scholar 

  • Ma N, Song G, Lee HJ (2004) Position control of shape memory alloy actuators with internal electrical resistance feedback using neural networks. Smart Mater Struct 13:777–783

    Article  Google Scholar 

  • Monner HP (2005) Smart materials for active noise and vibration reduction. Noise and Vibration: Emerging Methods (Novem 2005), pp 1–17

  • Park S, Jang N, Ihn YS, Yang S, Jeong J, Yim S, Oh S, Kim K, Hwang D (2020) A tele-operated microsurgical forceps-driver with a variable stiffness haptic feedback master device. IEEE Rob Autom Lett 5(2):1946–1953

    Article  Google Scholar 

  • Shi ZY, Liu D, Wang TM (2014) A shape memory alloy-actuated surgical instrument with compact volume. Int J Med Robot 10:474–481

    Article  Google Scholar 

  • Shi Z, Zhu Q, Yuan P (2016) A compact and stiffer shape memory alloy actuator for surgical instruments. In: Proceedings of 2016 IEEE international conference on mechatronics and automation, pp 477–484

  • Stoeckel D (1990) Shape memory actuators for automotive applications. Mater Des 11(6):302–307

    Article  Google Scholar 

  • Topliss R (2011) Shape memory alloy actuation apparatus, U.S. Patent 7,974,025 B2

  • Wang T, Shi Z, Liu D, Ma C, Zhang Z (2012) An accurately controlled antagonistic shape memory alloy actuator with self-sensing. Sensors 12:7682–7700

    Article  Google Scholar 

Download references

Acknowledgements

This work was supported in part by the Convergence Technology Development Program for Bionic Arm through the NRF funded by the MSIP under Grant 2014M3C1B2048419 and in part by the Korea Institute of Science and Technology Institutional Program.

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Donghyun Hwang.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Park, S., Hwang, D. An experimental study on precision positioning characteristics of shape memory alloy actuator. Microsyst Technol 26, 2801–2807 (2020). https://doi.org/10.1007/s00542-020-04853-2

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s00542-020-04853-2

Navigation