Characterization of coiled SMA actuators for humanoid robot

Akshay Potnuru; Yonas Tadesse

doi:10.1117/12.2260289

11 April 2017 Characterization of coiled SMA actuators for humanoid robot

Akshay Potnuru, Yonas Tadesse

Proceedings Volume 10164, Active and Passive Smart Structures and Integrated Systems 2017; 101640W (2017) https://doi.org/10.1117/12.2260289
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2017, Portland, Oregon, United States

Abstract

In this paper, we present modeling and characterization of coiled SMA spring actuators that are fabricated by coiling cylindrical SMA wires on to a threaded screw mandrel and applying heat treatment. Here, we evaluate a theoretical model that describes the actuation behavior of SMA coiled springs based on the constitutive model of SMA. We have experimentally verified the developed theoretical model and analyzed various parameters with respect to temperature change during actuation. The model was coded in Simulink® and the effects of various parameters with respect to temperature change were investigated. Simulations were compared with experiments and good agreement was obtained. We also show, how the high tension winding of SMA on the mandrel help in better performance and understanding of the fabricated coiled SMAs.

Conference Presentation

Citation Download Citation

Akshay Potnuru and Yonas Tadesse "Characterization of coiled SMA actuators for humanoid robot", Proc. SPIE 10164, Active and Passive Smart Structures and Integrated Systems 2017, 101640W (11 April 2017); https://doi.org/10.1117/12.2260289

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