11 April 2017 Characterization of coiled SMA actuators for humanoid robot
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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.
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Akshay Potnuru, 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); doi: 10.1117/12.2260289; https://doi.org/10.1117/12.2260289
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