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Source
Boer, J. de; Mang, H.J. (eds.); v. 1 p. 324; ISBN 0720402808; 
; 1973; North-Holland Publishing Company; Amsterdam; International conference on nuclear physics; Munich, Germany; 27 Aug 1973; Short communication only.
; 1973; North-Holland Publishing Company; Amsterdam; International conference on nuclear physics; Munich, Germany; 27 Aug 1973; Short communication only.
[en] Fishing line can be combined with shape memory alloy (SMA) to form novel artificial muscle actuators which have low cost, are lightweight and soft. They can be applied in bionic, wearable and rehabilitation robots, and can reduce system weight and cost, increase power-to-weight ratio and offer safer physical human-robot interaction. However, these actuators possess several disadvantages, for example fishing line based actuators possess low strength and are complex to drive, and SMA possesses a low percentage contraction and has high hysteresis. This paper presents a novel artificial actuator (known as an SMA-fishing-line) made of fishing line and SMA twisted then coiled together, which can be driven directly by an electrical voltage. Its output force can reach 2.65 N at 7.4 V drive voltage, and the percentage contraction at 4 V driven voltage with a 3 N load is 7.53%. An antagonistic bionic joint driven by the novel SMA-fishing-line actuators is presented, and based on an extended unparallel Prandtl-Ishlinskii (EUPI) model, its hysteresis behavior is established, and the error ratio of the EUPI model is determined to be 6.3%. A Joule heat model of the SMA-fishing-line is also presented, and the maximum error of the established model is 0.510 mm. Based on this accurate hysteresis model, a composite PID controller consisting of PID and an integral inverse (I-I) compensator is proposed and its performance is compared with a traditional PID controller through simulations and experimentation. These results show that the composite PID controller possesses higher control precision than basic PID, and is feasible for implementation in an SMA-fishing-line driven antagonistic bionic joint. (technical note)
Journal
Smart Materials and Structures (Print); ISSN 0964-1726; ; v. 26(3); [11 p.]
; v. 26(3); [11 p.]
[en] Spectra have been measured for all products of the decay into α+p+p of the states 6Be(0+) and 6Be*(2+). Analysis of the data has provided information on the characteristics of the decays, has brought to light exotic processes which determine the nature of the decays of 6Be(0+) and 6Be*(2+), and has permitted an idea to be obtained regarding the structure of the states of beryllium
Journal
Soviet Journal of Nuclear Physics (English Translation); ISSN 0038-5506; ; CODEN SJNCA; v. 49(6); p. 941-950
; CODEN SJNCA; v. 49(6); p. 941-950
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