31 May 1996 New design for a bending muscle with an embedded SMA wire actuator
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Abstract
A novel structure for designing a large deflection bending muscle is first presented. The structure is composed of a flexible beam, a thin-wall elastic tube, and an embedded nickel- titanium shape memory alloy (SMA) wire as an large motion bending actuator. The advantage of this kind of structure is that a small actuating strain of the SMA wire can generate a large bending of the muscle. Mathematical modeling of the bending muscle system is then performed, which uses Brinson's model of SMAs for the embedded shape memory alloy wire. Hysteretic nonlinearity of the SMA wire's behavior, geometric nonlinearity of large deflection of the flexible beam, and follower loads on the flexible beam complicate the analysis of the muscle's behavior. This bending muscle system turns out to be a highly nonlinear system. A numerical approach is thus followed by the use of finite element method to predict the behavior of the bending muscle.
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Guoping Wang, Guoping Wang, Mohsen Shahinpoor, Mohsen Shahinpoor, } "New design for a bending muscle with an embedded SMA wire actuator", Proc. SPIE 2715, Smart Structures and Materials 1996: Mathematics and Control in Smart Structures, (31 May 1996); doi: 10.1117/12.240833; https://doi.org/10.1117/12.240833
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