Publication: Diseño e integración de un sensor de fuerza para actuadores basados en SMA
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2019-10-14
Defense date
2019-10-14
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Abstract
En el presente proyecto se propone el diseño y desarrollo de una pieza para implementación sobre un actuador basado en SMA. Los hilos de SMA contraen su longitud cuando la temperatura aumenta. Este calentamiento se logra alimentando el actuador. El dispositivo cuenta con un volumen muy reducido, lo que facilitará su futura implementación en dispositivos de rehabilitación como puede ser los exoesqueletos.
Este dispositivo posee a su vez un sensor de fuerza conectado al hilo de SMA y superpuesto en la pieza Dicho sensor se calibrará para poder llevar a cabo el control de fuerza necesario. Para controlar la fuerza ejercida sobre el sensor, se utiliza un programa desarrollado mediante el software Matlab.
Los resultados obtenidos durante las pruebas realizadas a lo largo de estos meses se presentan en este Trabajo de Fin de Grado.
This project proposes the design and development of a mechanical piece for its future implementation on an actuator based on SMA. SMA threads contract their length when the temperature increases. This heating is achieved by feeding electrically the actuator. The device has a very small volume, which facilitates its future implementation in rehabilitation devices such as exoskeletons. This device has a force sensor connected to the SMA wire and which is superimposed on the previous piece. This sensor will be calibrated to carry out the necessary force control. To control the force exerted on the sensor, a program has been developed using Matlab software. The results obtained during the tests carried out during these months are presented in this final project.
This project proposes the design and development of a mechanical piece for its future implementation on an actuator based on SMA. SMA threads contract their length when the temperature increases. This heating is achieved by feeding electrically the actuator. The device has a very small volume, which facilitates its future implementation in rehabilitation devices such as exoskeletons. This device has a force sensor connected to the SMA wire and which is superimposed on the previous piece. This sensor will be calibrated to carry out the necessary force control. To control the force exerted on the sensor, a program has been developed using Matlab software. The results obtained during the tests carried out during these months are presented in this final project.
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Aleaciones, Ensayo de materiales, Exoesqueletos, Software de diseño industrial, Banco de pruebas, SMA, Exoskeletons