M. Kelemen, I. Virgala, E. Prada, T. Lipták Faculty of Mechanical Engineering, Technical University of Košice, Slovakia Th e paper deals with Shape memory alloy (SMA) spring analysis and its possibility for usage as actuator for in-pipe machine. In the paper the inner structure of SMA is introduced. Further, the experimental analysis of SMA contractor and expander was done. From the experiments...

Shape memory alloys (SMAs) are popular as actuators for use in soft robots due to their high work density and compatibility with miniaturized on-board batteries power electronics. However, because SMA activated through electrical Joule heating, they exhibit poor energy efficiency low actuator frequencies that arise from long cool-down times. Moreover, the case of wires subject flexural loading,...

This paper describes the design of a controller for a tactile shape display for dexterous telemanipulation applications. This device consists of an array of pin elements which rest against the human finger tip. Shape memory alloy (SMA) wire actuators raise individual pins to approximate the desired surface shape on the skin. To overcome the slow response times of SMA actuators we have implement...

This paper presents low-profile torsional actuators applicable for mesoscale and microscale robots. The primary actuator material is thermally activated Ni–Ti shape memory alloy (SMA), which exhibits remarkably high torque density. Despite the advantages of SMAs for actuator applications—high strain, silent operation, and mechanical simplicity—the response time and energy efficiency limit overa...