A Novel Torsional Shape Memory Alloy Actuator: Modeling, Characterization, and Control.
IEEE Robot. Automat. Mag.（2016）
摘要
Thermally 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.
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关键词
Actuators,Heating,Soft robotics,Torque control,Thermal management,Density measurement,Load modeling,Power system measurement,Shape memory alloys,Morphological operations
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