Output properties of cellular artificial actuator

Abstract

This paper focuses on output properties of cellular artificial actuator. The actuator is built from small actuator cells with structural elasticity. These cells are connected together in series to form fibers, which are in turn connected in parallel to form the whole actuator. These cells are controlled to determine whether to be in a contracted, or ON, state or a relaxed, or OFF, state. Arranging the ON cells in different fibers of fixed topology gives different output properties. A model of actuator's stochastic behavior is firstly deduced. Then, the output properties of actuator in a fixed topology are exactly calculated. A SMA springs array with three rows and five columns are built to validate the algorithm. Effect of the SMA spring array with different activated cells on tensile is analyzed, and experiment data indicates there exists a serious coupling phenomenon within the SMA springs array. Finally, comparison of application of these two different analysis methods is presented.