<p>To analyze and control the behavior of SMA actuator for a robotic system, we need its dynamic model. In this paper, we present modeling of a novel arc shaped Shape Memory Alloy (SMA) actuator. The arc shaped SMA actuator is developed to provide rotational motion with compliance for bio-inspired soft robots. This SMA actuator does not need complex mechanical appendages to convert linear motion into rotational motion which is usually the case for SMA wires. So, the propose design is smart and compact. We modeled the dynamics of the proposed SMA actuator using Elahinia's method. With this dynamic model, we can simulate the rotational motion of the arc shaped SMA actuator for bio-inspired robotic systems such as robotic finger or exoskeleton. Furthermore, this dynamic model&nbsp;can be&nbsp;used to develop a model-based controller for robotic systems. This model-based controller could give us the advantage in achieving coordinated control for the robtoic system which was not achieveable otherwise. The developed dynamic model was experimentally evaluated. We tested for various inputs such as step, sinusoidal and square wave. The response from the simulation and experimental system showed the similar behavior. In particular, the the angel and temperature achieved by the simulation model was similar to the experimental system. This confirms the effectiveness of the modeling.</p>

Modeling of Novel Arc Shaped Sma Actuator

Paper Proceedings: https://asmedigitalcollection.asme.org/ISPS/ISPS2021/volume/84799

ASME 2021 Information Storage and Processing Systems (ISPS2021)

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