| 摘要 |
PROBLEM TO BE SOLVED: To solve a problem that desired control cannot be performed by PID control since a characteristic of a superelastic metal is non-linear.SOLUTION: An actuator comprises: a superelastic alloy-made linear member; a movable part which is connected to the linear member, and movable according to the elongation/contraction of the linear member; a heating part for heating the linear member; and a control part which controls a heating amount by the heating part. The linear member has a hysteresis curve which is formed by phase transformation in a stress strain diagram, the hysteresis curve is upwardly shifted by heating, and a drive force is generated on the basis of the shift of the hysteresis curve. The control part acquires a target value of either of stress and strain, and a volume fraction of a phase of the linear member, and calculates a heating amount arriving at a target value on the basis of the volume fraction.SELECTED DRAWING: Figure 1 |
