A rotary actuator using shape memory alloy for a robot -analysis of the response with load

Abstract

Deals with the response of the actuator using shape memory alloy (SMA). The SMA actuator was developed for a robot. This study aims at the development of the position control system; control parameters are set automatically for the SMA actuator drives any kind of load. The SMA actuator in this study is box type actuator which is installed to a robot. This SMA actuator is compact. It works by repeat cooling and heating of the SMA wire. Step response and frequency response of the SMA actuator system without load showed good experimental results. Performance of SMA actuator system was calculated using results of the step response and other experimental results. Experimental results of the step response when the authors installed load to transmission shaft of the SMA actuator were shown. The step response data of experimental results were used for identification of the SMA actuator system. Results of identification on the SMA actuator system were calculated as a transfer function. Experimental results and identification results of the SMA actuator system were presented. >