Abstract
A three-degree-of-freedom actuator was implemented using shape memory metals (SMA) for two-dimensional movement. In its design, a CAD software was used, analyzing the movements made by a ball joint, obtaining a conical body with a circular base. For its movement, a one-way SMA spring arrangement was implemented as opposed to a two-way one for displacement in each of the XY axes, and its rotation by means of a bearing coupled to the axis of the body that allows rotation in one direction. actuator. An on-off control was implemented based on a kinematic study that can be manipulated through an interface that, according to the temperature and position obtained, activates or deactivates the SMA elements. As a result, the working angle was determined in a two-dimensional plane of ±22.5° and 30º counterclockwise for its rotation, taking into account that its error grows as it moves away from its center.
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