Development of a SMA high performance robotic actuator

Abstract

A prototype of a high performance robotic actuator, based on shape memory alloys (SMA), is proposed. Starting from detailed knowledge about the material behaviour, the most suitable way of heating and cooling is proposed. Furthermore an 'optimal' shape of the active element is determined and a control method based on simulation of the (T, sigma , epsilon ) behaviour is proposed.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>