New design for a rotatory joint actuator made with shape memory alloy contractile wire

Guoping Wang; Mohsen Shahinpoor

doi:10.1117/12.240820

31 May 1996 New design for a rotatory joint actuator made with shape memory alloy contractile wire

Guoping Wang, Mohsen Shahinpoor

Proceedings Volume 2715, Smart Structures and Materials 1996: Mathematics and Control in Smart Structures; (1996) https://doi.org/10.1117/12.240820
Event: 1996 Symposium on Smart Structures and Materials, 1996, San Diego, CA, United States

Abstract

A design approach for a rotatory joint actuator using a contractile shape memory alloy (SMA) wire is presented and an example design is followed. In this example, the output torque of the actuator is 18 Newton-meters, and its angular range is 30 degrees. Compared with a SMA spring type actuating component, a SMA wire type actuating component uses less SMA material and uses less electrical energy when it is electrically powered. On the other hand, a SMA wire type actuating component must have a large SMA wire length to produce a required amount of angular rotation of the joint. When pulleys are used to arrange a lengthy SMA wire in a small space, the friction between pulleys and pins is introduced and the performance of the joint actuator is degenerated to some degree. The investigated joint actuator provides a good chance for developing powered orthoses with SMA actuators for disabled individuals. It can relieve the weight concern with hydraulic and motor-powered orthoses and the safety concern with motor-powered orthoses. When electrically powered, a SMA actuator has the disadvantage of low energy efficiency.

Citation Download Citation

Guoping Wang and Mohsen Shahinpoor "New design for a rotatory joint actuator made with shape memory alloy contractile wire", Proc. SPIE 2715, Smart Structures and Materials 1996: Mathematics and Control in Smart Structures, (31 May 1996); https://doi.org/10.1117/12.240820

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