Abstract
New robotic applications, among others, in medical and related fields, have in recent years boosted research in the development of new actuators in the search for solutions that are lighter and more flexible than conventional actuators. Shape-Memory Alloy (SMA)-based actuators present characteristics that make them an excellent alternative in a wide variety of applications. This paper presents the design, tests (with the control description) and analysis of various configurations of actuators based on SMA wires: flexible SMA actuators, different mechanical design to multiply the displacement and different configurations for actuators with multiple SMA wires. The performance of the actuators has been analyzed using wires of different activation temperatures. The influence of the Bowden sheath of the flexible actuator has been tested, as has the thermal behavior of actuators with several wires. This work has allowed determination of the most effective configuration for the development of a flexible actuator based on SMA, from the point of view of dimensions, efficiency, and work frequency. This type of actuator has been applied in the development of soft robots and light robotic exoskeletons.
Highlights
In recent years, Shape Memory Alloy (SMA) materials have been considered a promising technology for the development of non-conventional actuators oriented on some specific applications.SMA-based actuators present characteristics which make them suitable to be integrated in a large variety of applications: they have a high force-to-weight ratio and noiseless operation, present a low volume (SMAs can generate about 150 times higher force compared with hydraulic actuators and 400 times higher force compared with magnetic actuators, at the same volume), and are a relatively low-cost solution compared with another actuators
High force-to-weight ratio, and small volume, SMA-based actuators can be considered a good actuation solution for wearable and soft robotic applications and especially for rehabilitation devices. They can be considered an alternative to conventional actuators such as DC and AC motors for robotics applications where a high force at low velocity is needed, or for pneumatic muscles if a low weight, low size, and noiseless operation is required
SMA-based actuators have been used for robotic rehabilitation devices [25,26]; in these cases, a high temperature can cause incompatibilities
Summary
Shape Memory Alloy (SMA) materials have been considered a promising technology for the development of non-conventional actuators oriented on some specific applications.SMA-based actuators present characteristics which make them suitable to be integrated in a large variety of applications: they have a high force-to-weight ratio and noiseless operation, present a low volume (SMAs can generate about 150 times higher force compared with hydraulic actuators and 400 times higher force compared with magnetic actuators, at the same volume), and are a relatively low-cost solution compared with another actuators. One of the limitations in the development of wearable robotic devices lies in the development of lightweight actuators Thanks to their flexibility, high force-to-weight ratio, and small volume, SMA-based actuators can be considered a good actuation solution for wearable and soft robotic applications and especially for rehabilitation devices. High force-to-weight ratio, and small volume, SMA-based actuators can be considered a good actuation solution for wearable and soft robotic applications and especially for rehabilitation devices They can be considered an alternative to conventional actuators such as DC and AC motors for robotics applications where a high force at low velocity is needed, or for pneumatic muscles if a low weight, low size, and noiseless operation is required
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