Research on planar and spacial bending embedded shape memory alloy actuators

Novel planar and spatial bending embedded shape memory alloy actuators are depicted firstly. The actuators are mainly made up of room temperature vulcanization silicone elastic rods with several axial or bias embedded SMA wires. The operating principles of actuators are discussed in detail as well as the practical specifications of prototype are determined depending on optimized design of the configuration parameters. Moreover, precise and practical shape analysis models calculating martensite fraction using two exponential equations for heating and cooling respectively are reached to overcome the inherently non-linearity arising from the nature of shape memory effect. Finally, an anthropomorphic flexible three-fingered robot hand making use of planar and spatial bending ESMAAs is developed.