Actuators are ubiquitous to generate controlled motion through the application of suitable excitation force or torque to perform various operations in manufacturing and industrial automation. The demands placed on faster, smaller, and efficient actuators drive innovation in actuator development. Shape memory alloy (SMA) based actuators have multiple advantages over conventional actuators, including high power-to-weight ratio. This paper integrates the advantages of pennate muscle of a biological system and the unique properties of SMA to develop SMA-based bipennate actuator. The present study explores and expands on the previous SMA actuators by developing the mathematical model of the new actuator based on the bipennate arrangement of the SMA wires and experimentally validating it. The new actuator is found to deliver at least five times higher actuation forces (up to 150 N) in comparison to the reported SMA-based actuators. The corresponding weight reduction is about 67%. The results from the sensitivity analysis of the mathematical model facilitates customization of the design parameters and understanding critical parameters. This study further introduces an Nth level hierarchical actuator that can be deployed for further amplification of actuation forces. The SMA-based bipennate muscle actuator has broad applications ranging from building automation controls to precise drug delivery systems.
Actuators regulate motion in manufacturing and industrial automation by applying an excitation force or torque. Conventional actuators do have their advantages; however, they have multiple components (prone to wear and tear), are expensive during maintenance, bulky, and suffer from backlashes. Therefore, smart-material-based actuators have been increasingly proposed to overcome such shortcomings. Shape memory alloy (SMA) is generally considered for such applications due to its high power-to-weight ratio, noise-free, energy-efficient operation, and facilitating miniaturization. The current research exploits the advantages of the pennate musculature with the properties of SMA to develop a bipennate SMA-based rotary actuator. Pennate muscle fibers are aligned obliquely to the muscle line of action, enabling fiber force to be coupled to macro-level muscle force, resulting in increased force output. The study presents an ergonomic-design-integration-framework of an SMA-driven rotary actuator. The lightweight gearless actuator has drivability without backlash, compatible with a rhombus-basedcompliant power transmission system. An analytical model of the bipennate SMA-based rotary actuator has been developed and experimentally validated. The new actuator delivers at least twice the actuation torque (2.1 N-m) compared to the SMA-based rotary actuators reported in the literature. The actuator also delivers a high associated angular displacement ranging from 60 • -70 • . The actuator design parameters have been optimized by implementing a constrained gradient descent algorithm such that the output torque, stroke, and efficiency of the actuator system can be tailored as per the requirement and application. The actuator has varied applications, from healthcare devices to next-generation space robots.
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