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Proceedings Paper

Parametric analysis of a shape memory alloy actuated arm
Author(s): Cody Wright; Onur Bilgen
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Paper Abstract

Using a pair of antagonistic Shape Memory Allow (SMA) wires, it may be possible to produce a mechanism that replicates human musculoskeletal movement. The movement of interest is the articulation of the elbow joint actuated by the biceps brachii muscle. In an effort to understand the bio-mechanics of the arm, a single degree of freedom crankslider mechanism is used to model the movement of the arm induced by the biceps brachii muscle. First, a purely kinematical analysis is performed on a rigid body crank-slider. Force analysis is also done modeling the muscle as a simple linear spring. Torque, rocking angle, and energy are calculated for a range of crank-slider geometries. The SMA wire characteristics are experimentally determined for the martensite detwinned and full austenite phases. Using the experimental data, an idealized actuator characteristic curve is produced for the SMA wire. Kinematic and force analyses are performed on the nonlinear wire characteristic curve and a linearized wire curve; both cases are applied to the crankslider mechanism. Performance metrics for both cases are compared, followed by discussion.

Paper Details

Date Published: 22 April 2016
PDF: 14 pages
Proc. SPIE 9797, Bioinspiration, Biomimetics, and Bioreplication 2016, 97970P (22 April 2016); doi: 10.1117/12.2219191
Show Author Affiliations
Cody Wright, Old Dominion Univ. (United States)
Onur Bilgen, Old Dominion Univ. (United States)

Published in SPIE Proceedings Vol. 9797:
Bioinspiration, Biomimetics, and Bioreplication 2016
Raúl J. Martín-Palma; Akhlesh Lakhtakia; Mato Knez, Editor(s)

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