Design and Analysis of Artificial Muscle Robotic Elbow Joint Using Shape Memory Alloy Actuator

Hyung Bin Park, Dong Ryul Kim, Hyung Jung Kim, Wei Wang, Min Woo Han, Sung Hoon Ahn

Research output: Contribution to journalArticle

Abstract

Artificial muscle is one of the more prominent topics in modern robotics as it can be applied to robotic arms, electric vehicles and wearable robots (Shahinpoor et al. in Smart Mater Struct 7:15–30, 1998; Jani et al. in Mater Des 56:1078–1113, 2014). The advantages of Shape Memory Alloy (SMA) artificial muscle are lightness and high energy density. The high energy density allows the actuator to make powerful motions. Meanwhile, SMA wire contracts 6% of its length, which means that the required displacement cannot be achieved by a simple connection. To resolve these disadvantages, the SMA wires are coiled in a diamond-shaped structure. If the electric current is given by contracting wires in the longitudinal direction, the actuator can exert force and displacement in the diagonal direction. As the crossed tendon finds its minimal length when actuated, the rotation angle converges to 90°. Parameters related with the rotating motion were selected, such as SMA wires’ diameter and length, distance between the crossed part and elbow part, size of the diamond-shaped structure, friction, etc. To determine the maximum force of the actuator, a graphical method was used, which is similar to the yield strength determination (0.2% offset). Because the robotic elbow joint is connected by the tendon, the connections between links are flexible, and without motor it does not generate any sound or noise during operation. The robotic elbow joint using the SMA actuator is designed and analyzed, which can rotate 86.7° and generates maximum 56.3 N force.

Original languageEnglish
Pages (from-to)249-256
Number of pages8
JournalInternational Journal of Precision Engineering and Manufacturing
Volume21
Issue number2
DOIs
StatePublished - 2020 Feb 1

Fingerprint

Shape memory effect
Muscle
Robotics
Actuators
Wire
Tendons
Diamonds
Robotic arms
Electric currents
Electric vehicles
Acoustic noise
Yield stress
Acoustic waves
Robots
Friction

Keywords

  • Robotic elbow joint
  • Shape memory alloy
  • Tendon-driven

Cite this

Park, Hyung Bin ; Kim, Dong Ryul ; Kim, Hyung Jung ; Wang, Wei ; Han, Min Woo ; Ahn, Sung Hoon. / Design and Analysis of Artificial Muscle Robotic Elbow Joint Using Shape Memory Alloy Actuator. In: International Journal of Precision Engineering and Manufacturing. 2020 ; Vol. 21, No. 2. pp. 249-256.
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Design and Analysis of Artificial Muscle Robotic Elbow Joint Using Shape Memory Alloy Actuator. / Park, Hyung Bin; Kim, Dong Ryul; Kim, Hyung Jung; Wang, Wei; Han, Min Woo; Ahn, Sung Hoon.

In: International Journal of Precision Engineering and Manufacturing, Vol. 21, No. 2, 01.02.2020, p. 249-256.

Research output: Contribution to journalArticle

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