Title :
Design and research on SMA actuator for the SDOF rotational joint
Author :
Hui Yang;Lina Hao;Yuan Peng;Liangliang Zhao
Author_Institution :
School of Mechanical Engineering and Automation, Northeastern University, Shenyang, China
fDate :
6/1/2015 12:00:00 AM
Abstract :
The bias SMA actuator for the SDOF (Single Degree of Freedom) rotational joint is designed, the dynamic equations are established by mathematical model of SMA, the verification of the bias structure and the dynamic equations are conducted by homemade experiment system, the actuating performance and the power density of the actuation units have been tested as well. All the experiment results have indicated that the bias structure is feasible, the dynamic equations meet the control requirements, and it has a higher power density than the wrist joint which is actuated by conventional motor.
Keywords :
"Wires","Actuators","Joints","Wrist","Density measurement","Power system measurements","Mathematical model"
Conference_Titel :
Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2015 IEEE International Conference on
Print_ISBN :
978-1-4799-8728-3
DOI :
10.1109/CYBER.2015.7288065
