Implementación de un actuador de tres grados de libertad utilizando metales con memoria de forma para un movimiento bidimensional.

Abstract

The objective of this degree work is the implementation of a three-degree-of-freedom actuator using shape memory alloys (SMA) for a two-dimensional movement. For its design, a CAD software was used, analyzing the movements made by a ball joint, including a circular base and a conical body as the end of the prototype for the data collection of rotation and positioning of the actuator. The execution of its movements was implemented by means of a one-way SMA spring arrangement as opposed to a two-way one for displacement in each of the XY axes, and its rotation with the help of a bearing coupled to the axis of the body that, with the activation of a two-way SMA spring, it allows rotation of the actuator in one direction. The operation mode of these springs is based on a change in temperature at the time of being energized. An on-off control was implemented based on a kinematic study developed to determine the position of the actuator, this control can be manipulated through an interface that, according to the temperature and position obtained, activates or deactivates the SMA elements through the emission of signals by pulse width modulation. As a result, the working angle was determined in a twodimensional plane of ±22.5° and 30° counterclockwise for its rotation, validating so its operation. Therefore, it is concluded that the three-degree-of-freedom actuator meets its established requirements for its correct operation. It is recommended for future applications to carry out an advanced control technique to improve the response times of the actuator.