In this paper, we present modeling of a novel arc shaped Shape Memory Alloy (SMA) actuator. The arc shaped SMA actuator is developed to provide rotational motion with compliance for bio-inspired soft robots. We modeled the dynamics of proposed SMA actuator using Elahinia’s method. The dynamic modeling is useful to understand the behavior of SMA and for controller tuning. The response from the simulation and experimental system showed similar behavior.
In this paper, we present modeling of a novel arc shaped Shape Memory Alloy (SMA) actuator. The arc shaped SMA actuator is developed to provide rotational motion with compliance for bio-inspired soft robots. We modeled the dynamics of proposed SMA actuator using Elahinia’s method. The dynamic modeling is useful to understand the behavior of SMA and for controller tuning. The response from the simulation and experimental system showed similar behavior.
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