IEEE Robotics & Automation Magazine - September 2016 - 65
©istockphoto.com/winvic
By Zhenishbek Zhakypov,
Jian-Lin Huang, and Jamie Paik
T
hermally 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 article, we introduce a novel low-profile torsional
SMA actuator design and its comprehensive mechanical performance characterization for centimeter-scale robotic applications. We determine the thermomechanical model of the
actuator with full characterization experiments with load,
without load, and in blocked conditions to analyze the actuator performance in robotic applications.
We also illustrate its application in an origami robot with
closed-loop control of the actuators. From the performance
tests, we have modeled and demonstrated the functional
capacity of this low-weight torsional actuator and have possibly shown the maximum physical and material limits of an
SMA that produces 34.1 mN∙m of torque and has a torqueto-weight ratio of 486 mN∙m/g.
SMA Challenges and Steps Forward
An SMA made of nickel and titanium (Nitinol) has attracted wide interest in both research and industry due to its
crystal realignment that allows shape memory effect and
high force output. Different types of SMA actuators have
A Novel Torsional Shape
Memory Alloy Actuator
Modeling, Characterization, and Control
Digital Object Identifier 10.1109/MRA.2016.2582868
Date of publication: 13 September 2016
1070-9932/16©2016IEEE
SEPTEmBEr 2016
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IEEE rOBOTICS & AUTOmATION mAGAZINE
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65
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Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2016
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IEEE Robotics & Automation Magazine - September 2016 - Cover3
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