Compliant Modular Shape Memory Alloy Actuators
Name
Torres-Jara-2010-Compliant Modular Sh.pdf
Size
2.94 MB
Format
Adobe PDF
Checksum (MD5)
29de6b7a79cf665d2aaee754f409bb82
Author(s)
Karges, J.
Wood, R. J.
Gilpin, Kyle W.
Rus, Daniela L.
Torres-Jara, E.
Date Issued
December 2010
Journal
IEEE Robotics & Automation Magazine
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Torres-Jara, E. et al. “Compliant Modular Shape Memory Alloy Actuators.” IEEE Robotics & Automation Magazine 17.4 (2010): 78–87. Web. 30 Mar. 2012. © 2010 Institute of Electrical and Electronics Engineers
Version
Final published version
Abstract
We have presented a simple but effective method to design flexible actuators. This process relies on understanding the behavior of a simple unit cell element built out of SMA sheet. The unit cell effectively uses the properties of flat SMA sheets: it operates in the bent region where more force is generated; it minimizes the nonbent SMA; and it heats up only the bent regions. However, the force generated by this unit cell does not scale up well, and an array of them is needed to increase the force generated. Building an actuator out of an array of unit cells increases its complexity but provides advantages, including the control of expansion length, trajectory, and generated force. Given the current technologies, including 3-D printing and laser cutting, a variety of support structures can be built to create an actuator with a given behavior. We have shown three types of configurations: linear, rotational, and surface. The linear actuator has been tested for endurance and can easily perform over 10,000 repetitions under load without breaking. These actuators have been tested in actual systems, such as the battery-operated HexRoller robot that uses six actuators connected in a chain. The robot demonstrates that this SMA actuator is power efficient compared with other SMA designs that cannot operate with batteries. We have also showed that a rotational version of this type of actuator is comparable with an electromagnetic motor.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/mra.2010.938845
