in this paper the design of a biped robot actuated with shape memory alloy (sma) springs with minimum degrees of freedom is presented. sma springs are a class of smart materials that are known for their high power to mass and volume ratios. it was shown that utilizing spring type of smas have many advantages as large deformation, smooth motion, silent and clean movement compared to ordinary typ...

This paper proposes a design of SMA-based bionic suction cup actuator, the core of which is that the bias spring cooperates with the SMA spring to produce a displacement at the varying temperature caused by the drive current. To characterize the dynamic drive performance of the actuator, the thermody‐ namic model is established by the constitutive model of SMA material of Tanaka series. The sim...

M. Kelemen, I. Virgala, E. Prada, T. Lipták Faculty of Mechanical Engineering, Technical University of Košice, Slovakia Th e paper deals with Shape memory alloy (SMA) spring analysis and its possibility for usage as actuator for in-pipe machine. In the paper the inner structure of SMA is introduced. Further, the experimental analysis of SMA contractor and expander was done. From the experiments...

This report introduces Shape Memory Alloys, describes properties of SMA as an actuator and introduces some available commercial SMA actuator products.

In this paper various applications of shape memory alloys (SMA) in bio-medical field based upon their material properties are discussed, and a novel SMA spring actuator design for biopsy is proposed. Design parameters such as spring configuration, wire diameter required for designing the actuator were defined and obtained through experiments. Finally, itconcludeswith the possibility of using SM...

There are two different ways of using SMA wires as actuators for shape control of flexible structures; which can be either embedded within the composite laminate or externally attached to the structure. Since the actuator can be placed at different offset distances from the beam, external actuators produce more bending moment and, consequently, considerable shape changes with the same magnitude...

This research studied the optimal design of Shape Memory Alloy (SMA) muscle wire bundle actuators. Current literature describes the use of multiple muscle wires placed in parallel to increase the lifting capabilities of an SMA actuator, which however, is limited to wires of like-diameter. A constrained optimization problem was formulated, with constraints on the maximum number of wires, voltage...

Thermally activated shape memory alloy (SMA) actuators are direct-driven and produce high power density with design versatility. However, beyond their linear actuation in spring forms there is little variety and their application in robotics is limited by the challenging characterization of the actuator. In this paper we introduce a novel low-profile torsional SMA actuator design, and its compr...

The single crystal Cu-Al-Ni alloys became generally commercialized. It can be observed that response time of any single crystal Cu-Al-Ni-based shape memory alloy (SMA) actuator is greater than the necessary when it is used for human prosthesis. Moreover, the electrical SMA actuator type with better performance than the thermal one is very problematic for this type of crystal due to its low elec...

This paper presents low-profile torsional actuators applicable for mesoscale and microscale robots. The primary actuator material is thermally activated Ni–Ti shape memory alloy (SMA), which exhibits remarkably high torque density. Despite the advantages of SMAs for actuator applications—high strain, silent operation, and mechanical simplicity—the response time and energy efficiency limit overa...