Series Ni-Ti shape memory alloy wires with different martensitic-austenitic phase transformation temperatures as an actuator for input shaping control

This study presents series shape memory alloy (SMA) wire actuators featuring different martensitic-austenitic phase transformation temperatures for input shaping control of flexible structures, such as compliant robot manipulators. Similar to conventional electric motors, the proposed actuator can generate stair-wise input shaping commands by simply applying a step current input. A practical input shaping control of flexible structures (e.g. beam manipulator) actuated by a series SMA wire actuator with different martensitic-austenitic phase transformation temperatures was proposed, and its ability to suppress residual vibration was successfully validated through simulation and laboratory experiments.