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dc.contributor.authorKarges, J.
dc.contributor.authorWood, R. J.
dc.contributor.authorGilpin, Kyle W.
dc.contributor.authorRus, Daniela L.
dc.contributor.authorTorres-Jara, E.
dc.date.accessioned2012-03-30T19:45:17Z
dc.date.available2012-03-30T19:45:17Z
dc.date.issued2010-12
dc.identifier.issn1070-9932
dc.identifier.otherINSPEC Accession Number: 11692788
dc.identifier.urihttp://hdl.handle.net/1721.1/69901
dc.description.abstractWe 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.en_US
dc.description.sponsorshipUnited States. Defense Advanced Research Projects Agency (grant W911Nf-08-1-0228)en_US
dc.description.sponsorshipUnited States. Defense Advanced Research Projects Agency (grant W911NF-08-C-0060)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/mra.2010.938845en_US
dc.rightsArticle 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.en_US
dc.sourceIEEEen_US
dc.titleCompliant Modular Shape Memory Alloy Actuatorsen_US
dc.typeArticleen_US
dc.identifier.citationTorres-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 Engineersen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.approverRus, Daniela L.
dc.contributor.mitauthorGilpin, Kyle W.
dc.contributor.mitauthorRus, Daniela L.
dc.contributor.mitauthorTorres-Jara, E.
dc.relation.journalIEEE Robotics & Automation Magazineen_US
dc.eprint.versionFinal published versionen_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dspace.orderedauthorsTorres-Jara, E.; Gilpin, K.; Karges, J.; Wood, R.J.; Rus, D.en
dc.identifier.orcidhttps://orcid.org/0000-0001-5473-3566
dc.identifier.orcidhttps://orcid.org/0000-0002-9034-2340
mit.licensePUBLISHER_POLICYen_US
mit.metadata.statusComplete


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