Mechanical properties of shape memory alloys (SMA) actuator of bionic flexible dexterous hand

Yingqian Ni; Jin Zhou; Lei Tao; Yu Yan; Tong Liu; Wenbin Zhang

doi:10.1117/12.3010715

1 December 2023 Mechanical properties of shape memory alloys (SMA) actuator of bionic flexible dexterous hand

Yingqian Ni, Jin Zhou, Lei Tao, Yu Yan, Tong Liu, Wenbin Zhang

Proceedings Volume 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023); 129400U (2023) https://doi.org/10.1117/12.3010715
Event: Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 2023, Sipsongpanna, China

Abstract

In order to obtain the inherent law of the structure and performance of the SMA actuator of the bionic flexible dexterous hand. Four phase transition temperature parameters of SMA wire were obtained by temperature test. The Brinson constitutive model was used to describe the material relationship of SMA. The finite element model of SMA mechanical properties was established by user material subroutine (UMAT). The validity of the secondary development was verified by comparing the results with the literature. Based on this, the parametric finite element modeling and simulation of SMA actuator were carried out, and the influencing factors of mechanical properties of SMA actuator were analyzed. The results show that the SMA wire diameter of the dexterous hand actuator has a great influence on the performance of the actuator, while the structural parameters such as the winding spacing and the actuator diameter have little effect on the driving performance of the SMA wire. The pre-stretching force and output force of the actuator increase with the increase of the diameter of the SMA wire. The research results provide a reference for the design of related SMA actuators.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Yingqian Ni, Jin Zhou, Lei Tao, Yu Yan, Tong Liu, and Wenbin Zhang "Mechanical properties of shape memory alloys (SMA) actuator of bionic flexible dexterous hand", Proc. SPIE 12940, Third International Conference on Control and Intelligent Robotics (ICCIR 2023), 129400U (1 December 2023); https://doi.org/10.1117/12.3010715

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