Mechanical Engineering Commons^™

Thermo-Mechanical System Identification Of A Shape Memory Alloy Actuated Mechanism, Cody Alexander Wright

Mechanical & Aerospace Engineering Theses & Dissertations

Shape memory alloy (SMA) actuators paired in an antagonistic arrangement can be used to produce mechanisms that replicate human biomechanics. To investigate this proposal, the biomechanical articulation of the elbow by means of the biceps brachii muscle is compared with that of a SMA actuated arm. This is accomplished by parametric analysis of a crank-slider kinematic mechanism actuated, first, with an experimentally characterized SMA wire and then an idealized musculotendon actuator based on actuation properties of muscles published in the literature. Next, equations of motion for the system dynamics of the SMA actuated mechanism are derived and phase portrait analysis …