Diseño de actuadores de alta carga basados en aleaciones con memoria de forma

Autores/as

DOI:

https://doi.org/10.17979/ja-cea.2025.46.12242

Palabras clave:

Aleaciones con memoria de forma, Diseño de actuadores, Robótica, Materiales inteligentes, Diseño mecánico, Sistemas mecatrónicos, Actuadores inteligentes, Métodos de elementos finitos

Resumen

Las aleaciones con memoria de forma (SMA, por sus siglas en inglés) presentan un gran potencial para su integración como actuadores en aplicaciones robóticas, debido a su elevada relación potencia-peso y su capacidad de recuperar la forma original tras una deformación. Entre sus diferentes formas, los hilos y muelles de SMA son los formatos com´unmente disponibles en el mercado. En este contexto, se presenta el diseño de un banco de pruebas y de un actuador basado en hilos de SMA, orientado al desplazamiento de altas cargas en entornos compactos. El trabajo incluye la caracterización mecánica y eléctrica de fibras de Nitinol con diámetros de 1-2 mm bajo distintas condiciones de carga, el desarrollo iterativo de cinco prototipos de actuador y una evaluación mediante análisis por elementos finitos y ensayos experimentales. La arquitectura final del actuador confirma la viabilidad de sistemas basados en SMA para aplicaciones de alta carga de hasta 6000 N, como alternativa a soluciones convencionales con motores eléctricos.

Biografía del autor/a

  • Santiago Martínez de la Casa, Universidad Carlos III de Madrid

    My name is Santiago Martínez de la Casa Díaz (quite long ;-)) and I work in different fields of robotics and automation in the Roboticslab Research Group from the Systems Engeneering and Automation Department. Altough I actually belong to the Carlos III University, I started my studies on Industrial Engineering at the Alcala University. There, I received the degree on “Ingeniería Técnica Industrial. Esp. Electrónica y Automática”. After that, I arrived to the Carlos III University of Madrid in 2000 and I started my career in this University. First of all, I completed my studies in Industrial Engineering in 2005 and then I started to work as researcher in the I.S.A. Department. More or less at the same time, I began the PhD Program on Electric, Electronics, and Industrial Automation Engineering. I received the M.Sc. Degree on Robotics and Automation in 2010 and, finally, I completed my Ph.D. on July 2012, with the Thesis titled “Human Inspired Humanoid Robot Control Architecture” My research work and interests are related to: ROBOTICS IN CONSTRUCTION: From 2005 and during the next four years I was in charge of the 6FP EU Project ManuBuild related to automatization and robotization of construction processes. As well, I participated in the 6FP EU I3CON project in this field and other national projects like Tunconstruct, related to robotized tunnel maintenance. ASSISTIVE ROBOTICS: I participated in the development of the climbing and assistive robot ASIBOT (AKA MATS). I was awarded in the “Proyecto Final de Carrera” prize from the “Colegio Oficial de Ingenieros Industriales de Madrid”. As well, the ASIBOT development team received an Infanta Cristina Prize from the IMSERSO. HUMANOID ROBOTICS: From 2009 I was in charge of the development of the humanoid robot TEO. The postural control of the robot was the subject of my Ph.D. Thesis. Research fellowship: https://h2t.anthropomatik.kit.edu/21_1015.php

  • Dorin Copaci, Universidad Carlos III de Madrid

    Dorin Copaci obtained his Bachelor’s in Automatic Control and Systems Engineering from the Politehnica University of Bucharest, Romania in 2010, followed by a Master’s in Robotics and Automation from Carlos III University of Madrid, Spain in 2012. He received his Ph.D. in Electrical, Electronic, and Automatic Engineering from Carlos III University of Madrid in 2017. Copaci has been a member of the RoboticsLab research team since 2010, and currently holds a position as Assistant Professor in the Department of Systems Engineering and Automation at Carlos III University of Madrid. His research focuses on developing and controlling smart and soft actuators for innovative rehabilitation devices.

Referencias

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Cartel Jornadas de Automática 2025

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Publicado

01-09-2025

Número

Núm. 46 (2025)

Sección

Robótica

Licencia

Derechos de autor 2025 Jaime González Menocal, Santiago Martínez de la Casa, Dorin Copaci

Creative Commons License

Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.