Research and application of Entirely-integrated Spatial-bending Shape Memory Alloy Actuator

A new structure of entirely-integrated spatial- bending shape memory alloy actuators (ESSMAA) is first presented. Three SMA wires, which are trained to remember "U" recovery shape, are embedded in liquid silicone rubber to be solidified upon room temperature, companied with displacement sensors and connective wires. The Spatial bending, which is accomplished through heating SMA wires by suitable current, can restore flexibly as soon as stopping heating. Thus, the compact, two-way, mechanical and electrical incorporation actuator is completed. Be provided with the merits such as high load-weight ratio, low energy dissipation and direct driving, the actuators can realize miniature configuration, simple drive and control, precise operation and flexible movement pose synthetically. After analyzing equilibriums of elastic rod and SMA wire, the parameters design process of the rod and SMA wire is deduced. Subsequently, the manufacture of the prototype is discussed in details and the drive and control system is implemented also. Finally, the experiments of the actuator proof fine qualities of the operation performances.