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22 April 2016 Parametric analysis of a shape memory alloy actuated arm
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Using a pair of antagonistic Shape Memory Allow (SMA) wires, it may be possible to produce a mechanism that replicates human musculoskeletal movement. The movement of interest is the articulation of the elbow joint actuated by the biceps brachii muscle. In an effort to understand the bio-mechanics of the arm, a single degree of freedom crankslider mechanism is used to model the movement of the arm induced by the biceps brachii muscle. First, a purely kinematical analysis is performed on a rigid body crank-slider. Force analysis is also done modeling the muscle as a simple linear spring. Torque, rocking angle, and energy are calculated for a range of crank-slider geometries. The SMA wire characteristics are experimentally determined for the martensite detwinned and full austenite phases. Using the experimental data, an idealized actuator characteristic curve is produced for the SMA wire. Kinematic and force analyses are performed on the nonlinear wire characteristic curve and a linearized wire curve; both cases are applied to the crankslider mechanism. Performance metrics for both cases are compared, followed by discussion.
Conference Presentation
© (2016) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Cody Wright and Onur Bilgen "Parametric analysis of a shape memory alloy actuated arm", Proc. SPIE 9797, Bioinspiration, Biomimetics, and Bioreplication 2016, 97970P (22 April 2016);

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