形狀記憶合金(Shape Memory Alloy；SMA)中，除TiNi合金具有實用性之外，僅有Cu系合金(價格為TiNi合金的1/10)；但是銅系記憶合金卻有反覆變形不穩定、延性差、疲勞強度低等致命傷，而以Cu置換Ni而得TiNiCu 3元合金可以結合兩者的優點，故以其為本研究之主要素材。
在本研究中，首先以實驗找出ψ0.6mm之Ti50Ni45Cu5合金的擬彈性變形角與荷重及驅動電流(溫度)間的特性，再提出一全新概念的雙SMA致動器，配合動態影像回授控制系統與VB控制程式，成為一實用的可控制雙SMA擺動式致動器。Pseudoelasticity angle
研究結果發現加入動態影像回授控制可以克服SMA低重現性的問題，在一般環境下(25±3℃)，本研究提出的雙SMA擺動式致動器，其最大可擺動角度範圍是±12.5°，擺角控制精度為±0.5°，若擺角在±1.5°內，定位精度更可高達±0.25°。

The Shape Memory Alloys (SMA) have practicability either the TiNi alloy or series of Cu alloys (more cheap than TiNi alloy); But the memory alloy of coppers have some shortcoming such as deform unstable, low ductility, poor fatigue stength etc., if replace Ni with Cu to get the TiNiCu alloy can combine both advantage, so based on it for the main material to studied.
In this study , find out the characteristic of Ti50Ni45Cu5 alloy(ψ0.6mm) with the experiment at first, then design a couple SMA actuating devices, cooperate with the dynamic image feedbake control system and VB program, to make couple SMA actuating devices becoming practical and can control.
The result of study found that joining the dynamic image feedback control can overcome SMA low reappearing question, under the general environment (25±3℃), the oscillating angle range of the couple SMA oscillating type actuating devices is ±12.5°, the precision of angle control is ±0.5°, if oscillating angle in ±1.5°, the precision of angle control can be up to ±0.25°.

CHINESE ABSTRACT................................................Ⅰ
ENGLISH ABSTRACT................................................Ⅱ
ACKNOWLEDGEMENTS................................................Ⅲ
TABLE OF CONTENTS...............................................Ⅳ
LIST OF FIGURES.................................................Ⅶ
LIST OF TABLES...................................................X
CHAPTER
I Introduction................................................1
1.1 Motivation..............................................1
1.2 Literature Review.......................................2
II Shape Memory Alloys.....................................3
2.1 Manufacture of the Memory Alloy............................3
2.2 Organization of the Shape Memory Effect............4
2.3 TiNi Shape Memory Alloys...................................6
2.3.1 The Crystal Tranformation Memory Effect and
Mechanism Character of TiNi Alloys...............................6
2.3.2 Replace the Influence of Ni with Cu.....................11
III Experimental Equipment and planning......................15
3.1 Experimental Equipment....................................15
3.1.1 Basic Characteristic of Ti50Ni45Cu5.....................15
3.1.2 Single SMA Actuating Pole...............................16
3.1.3 Couple SMA Actuating Device............................17
3.1.4 Deformation Amount Examines System.....................18
3.1.5 Stable Electric Current System..........................22
3.1.6 Angle Calculation Program...............................27
3.1.7 Dynamic Image Feedbake Oscillating Program..............28
3.1.8 Angle Orients Program...................................30
3.2 Experimental planning.....................................31
3.2.1 SMA Joint Method........................................31
3.2.2 SMA Characteristic Measures the experiment..............31
3.2.3 Couple SMA Actuating Device Characteristic Measures....32
3.2.4 Oscillating Control Parameter tt, t1, t2 Setting.......33
3.2.5 Angle Orients Parameter A1, A2, tc Setting..............34
IV Results and Discussion....................................35
4.1 Ti50Ni45Cu5 Characteristic Curve..........................35
4.2 Couple SMA Actuating Device Characteristic................37
4.3 Couple SMA Actuating Device Characteristic Oscillating in
Limit Range.....................................................38
4.4 Couple SMA Actuating Device Angle Orients.................43
V Conclusions................................................44
REFERENCES......................................................45

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