A Study on Operational Characteristics of SMA Wire Segmented by Thermoelectric Module

Abstract:

The robot industry of the 21st century is focused on humanoid robot. It has more intelligence and is able to move dexterously like a biological organ than existing sequence robot. The key technology of this robot is the design of the actuator. To realize the anthropomorphic motion, artificial muscles, such as shape memory alloy and electro active polymer are used. The SMA actuator has good power density and simple structure, but the control scheme of the actuator is difficult. The electro active polymer has good elasticity, but it is difficult to get the required power. In this paper, the performance according to the motion control of segmented SMA wire is evaluated. SMA wire is segmented by thermoelectric modules. The displacement of SMA wire according to load is measured and its hysteresis is surveyed.

• Periodical: Materials Science Forum (Volumes 580-582)
• Pages: 569-572
• DOI: https://doi.org/10.4028/www.scientific.net/MSF.580-582.569
• Online since: June 2008
• Authors: Gwang Ho Kim, Ju Hwan Kim, Sang Hee Lee, Sang Moon Shin, Sang Hwa Jeong
• Keywords: Electro Active Polymer, Humanoid Robot, Metal-Oxide-Semiconductor Field Effect Transistor (MOSFET), Segment Binary Control, Shape Memory Alloy Actuator, Thermoelectric Module

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