Abstract：A new structure of compact flexible actuator based on shape memory alloy (SMA) springs is first presented. Three SMA springs, which are trained to shrink as the phase transition occurs, are embedded off-axially and movably in silicone rubber rod solidified at room temperature. The spatial bending, which is accomplished through heating SMA springs by suitable current, can restore flexibly as soon as stopping heating. Thus, the compact, flexible, mechanical and electrical incorporation actuator is completed. Be provided with the merits such as high load-weight ratio, low energy dissipation and direct driving, the actuators can realize miniature configuration, simple drive and control and flexible movement pose synthetically. After analyzing equilibrium of elastic rod with distributed and concentrated loads, the parameters design process of the rod and SMA spring are deduced. Subsequently, the manufacture of the prototype is discussed in details. Finally, the experiments of the actuator proof fine qualities of the operation performances.
杨凯, 辜承林. 基于SMA弹簧紧凑型柔性电机的设计与研制[J]. 电工技术学报, 2010, 25(4): 59-64.
Yang Kai, Gu Chenglin. Research on a Compact and Flexible Actuator Consisting of SMA Springs. Transactions of China Electrotechnical Society, 2010, 25(4): 59-64.
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2010, Vol. 25 
