Torsion coil-type shape memory alloy actuator and application to a tensegrity robot

다국어 초록 (Multilingual Abstract)

This paper is introduces Shape Memory Alloy (SMA), Coil type SMA Actuator (CSA) using SMA, linear measurement equipment, and Constant current circuit for current flow in actuator. In addition, the performance difference between the CSA and the Torsional CSA(TCSA) manufactured by adding the torsional load during the CSA, and the characteristics of the TCSA are included.
SMA is a smart meterial that changes its shape according to temperature. SMA wire with a diameter of 0.008 inch (0.2032 mm) can apply a stroke force to 1 kg, but the shrinkage rate is 5%. In order to improve the shrinkage, it was fabricated in coil form. In order to improve the strength, the torsion was added to confirm the difference of stiffness. Since SMA is one of the types of metal, it has high electrical conductivity and the resistance value of SMA changes according to the change of shape. Therefore, a constant current circuit is designed to flow current to SMA with a range of fluid resistance, and a linear measurement device is introduced to measure drive .

목차 (Table of Contents)

• Abstract 6
• 1 Introduction 9
• 1.1 Soft robotics 9
• 1.2 Shape memory alloy 13
• 2 Torsion coil type Shape Memory Alloy wire actuator 21
• 2.1 Introduction 21
• 2.2 Torsion coil type Shape Memory Alloy wire manufacturing method and self annealing evaluation 23
• 2.3 Actuator characteristic 24
• 2.3.1 Linear measurement setup 24
• 2.3.2 Constant current circuit 26
• 2.4 Numerical modeling 34
• 2.5 Actuator Performance 40
• 3 Tensegrity robot using Torsion coil type shape memory alloy wire actuator 51
• 3.1 Introduction 51
• 3.2 Actuation structure and 4 channels Constant current circuit 55
• 3.3 Performance 58
• 4 Conclusion 63
• Bibliography 66