000219151 001__ 219151
000219151 005__ 20180913063740.0
000219151 0247_ $$2doi$$a10.1109/MRA.2016.2582868
000219151 022__ $$a1070-9932
000219151 02470 $$2ISI$$a000384300000016
000219151 037__ $$aARTICLE
000219151 245__ $$aModeling, Characterization and Control of a Novel Torsional Shape Memory Alloy (SMA) Actuator
000219151 269__ $$a2016
000219151 260__ $$aPiscataway$$bInstitute of Electrical and Electronics Engineers$$c2016
000219151 300__ $$a10
000219151 336__ $$aJournal Articles
000219151 520__ $$aThermally activated shape memory alloy (SMA) actuators are direct-driven and produce high power density with design versatility. However, beyond their linear actuation in spring forms there is little variety and their application in robotics is limited by the challenging characterization of the actuator. In this paper we introduce a novel low-profile torsional SMA actuator design, and its comprehensive mechanical performance characterization for centimeter-scale robotic applications. We determine the thermo-mechanical model of the actuator with full characterization experiments with load, without load, and in blocked conditions to analyze actuator performance in robotic applications. We also illustrate its application in an origami robot with  closed-loop  control of the  actuators.  From  the  performance  tests we have modeled and demonstrated the functional capacity of this low weight torsional actuator and have possibly shown the maximum physical and material limits of an SMA that produces 34.1 mNm torque and has a torque-to-weight ratio of 486 mNm/g.
000219151 6531_ $$aRobotic origami
000219151 6531_ $$aRobogami
000219151 6531_ $$aShape Memory Alloy Actuator
000219151 6531_ $$aReconfigurable Surface
000219151 700__ $$0249214$$aZhakypov, Zhenishbek$$g238389
000219151 700__ $$0249225$$aHuang, Jian-Lin$$g255759
000219151 700__ $$0246476$$aPaik, Jamie$$g218367
000219151 773__ $$j23$$k3$$q65 - 74$$tIEEE Robotics and Automation Magazine
000219151 909C0 $$0252462$$pRRL$$xU12520
000219151 909C0 $$0252409$$pNCCR-ROBOTICS$$xU12367
000219151 909CO $$ooai:infoscience.tind.io:219151$$pSTI$$particle
000219151 917Z8 $$x238389
000219151 917Z8 $$x238389
000219151 917Z8 $$x238389
000219151 917Z8 $$x238389
000219151 917Z8 $$x238389
000219151 917Z8 $$x238389
000219151 917Z8 $$x238389
000219151 917Z8 $$x238389
000219151 917Z8 $$x238389
000219151 917Z8 $$x144315
000219151 937__ $$aEPFL-ARTICLE-219151
000219151 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
000219151 980__ $$aARTICLE