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Design and Analysis of Artificial Muscle Robotic Elbow Joint
using Shape Memory Alloy Actuator
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Design and Analysis of Artificial Muscle Robotic Elbow Joint
using Shape Memory Alloy Actuator

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 Abstract

Design and Analysis of Artificial Muscle

Robotic Elbow Joint using

Shape Memory Alloy Actuator

Park, Hyung-Bin

Department of Mechanical and Aerospace Engineering

The Graduate School

Seoul National University

Artificial muscle is one of the more prominent topics in modern robotics as it can be used in
robotic arms, mobile phones, and electric vehicles. The advantages of Shape Memory Alloy
(SMA) artificial muscle are lightness and high energy density. The high energy density allows the
actuator to make powerful motions. Compared to other smart materials, the SMA wire has better
strain properties that can conduct various motions. However, in terms of repeatability and
precision, an artificial muscle using SMA wire indicates lower performance than other actuators.
In this research, a robotic elbow joint using SMA wire was designed, which can overcome the
repeatability and precision disadvantages, among others. The human elbow joint gets its rotational
angle and torque by contracting 40% of the muscle length. Meanwhile, SMA wire contracts 6%
of its length, which means that the required displacement can’t be achieved by a simple connection
and precise rotation is also impossible with the current design. To solve these disadvantages, the
SMA wires are coiled in a diamond-shaped structure. If the electric current is given by contracting
wires in the longitudinal direction, the actuator can exert force and displacement in the diagonal

I
direction. The force was measured to be 56N maximum at square configuration with the 3-axis
force sensor while the displacement was measured to be 20 mm. The desired angle can be
achieved repeatedly by a crossed tendon connection. As the crossed tendon finds its minimal
length when actuated, the rotation angle converges to 90°. Furthermore, the shape retention from
the rotated configuration is done by the spring. Parameters related with the rotating motion were
selected, such as SMA wires’ diameter and length, distance between the crossed part and elbow
part, size of the diamond-shaped structure, friction, etc. The prototype was fabricated using the
3D-printer and the ABS was selected as a rigid link material with good mechanical and thermal
properties. In addition, the holes which the SMA wire passes through are reinforced by a metallic
object. To determine the maximum force of the actuator, a graphical method was used, which is
similar to the yield strength determination (0.2% offset). The steepest gradient is calculated from
the force data and used as a slope of the offset line. The offset line starts at the offset time from
the steepest gradient point of the force data. The actuation force data and offset line’s intersection
point is selected as the maximum force value. The actuator constant is calculated by referring to
the motor constant. Although the SMA actuator and linear motor has almost the same actuator
constant (Force divided by square root Watt, SMA : 9.29, Motor : 7.56), the SMA weighs only
1.4g while the linear motor weighs 45g. Because the robotic elbow joint is connected by the
tendon, the connections between links are flexible, so it can be applied to a wearable robot.
Eventually, the workspace will become more pleasant since noise is not generated while actuating.
The robotic elbow joint using the SMA actuator is designed and analyzed, which can rotate 90°
repeatedly and generate no noise.

Keywords : Artificial Muscle, Shape Memory Alloy, Tendon-driven, Robotic Elbow Joint

Student Number : 2016-27701

II
 Contents

Chapter 1. Introduction ............................................................................. 1

1.1 Overview ......................................................................................................................... 1

1.2 Shape Memory Alloy ...................................................................................................... 3

Chapter 2. Design of artificial muscle elbow joint .................................. 7

2.1 Linear actuator ................................................................................................................ 7

2.2 Overall design ................................................................................................................. 9

2.3 Fabrication..................................................................................................................... 11

Chapter 3. Analysis of artificial muscle elbow joint ............................. 13

3.1 Actuation force measurement ........................................................................................ 13

3.2 Maximum force determination ...................................................................................... 17

3.3 Actuator constant ........................................................................................................... 19

Chapter 4. Experiments ........................................................................... 20

4.1 Experiment system ........................................................................................................ 20

4.1 Experiment process ....................................................................................................... 21

Chapter 5. Conclusion .............................................................................. 23

References 24

III
 List of Tables

TABLE 1.1. PROPERTIES OF A VARIETY OF CONTRACTILE MATERIALS [6]................................ 2

TABLE 1.2 MATERIAL PROPERTIES OF THE SHAPE MEMORY ALLOY (SMA) [16]...................... 5
TABLE 1.3 SUMMARY OF VARIOUS SMA PROPERTIES AND THEIR EFFECTS [26] ..................... 6
TABLE 1.4 COMPARISON OF LOADING CONFIGURATION FOR SMA ACTUATORS [26]............. 6
TABLE 2.1 FABRICATION SPECIFICATIONS [17] ............................................................................... 12
TABLE 3.1 3-AXIS FORCE SENSOR SPECIFICATIONS [18] .............................................................. 13
TABLE 3.2 ACTUATION FORCE MEASUREMENTS OF THE LINEAR ACTUATOR....................... 15
TABLE 3.3 ACTUATOR COMPARISON OF VARIOUS MOTORS ....................................................... 19

IV
 List of Figures

FIGURE 1.1 HUMAN ELBOW JOINT AND LIFT-UP MOTION ............................................................. 1

FIGURE 1.2 ACTUATION ENERGY DENSITY DIAGRAM INDICATING TYPICAL RANGES OF
ACTUATION STRESS, ACTUATION STRAIN, AND THE ACTUATION ENERGY DENSITIES
OF DIFFERENT ACTIVE MATERIALS [13] ................................................................................... 2
FIGURE 1.3 SMA PHASE TRANSFORMATION PROCESS [14] ............................................................ 3
FIGURE 1.4 SHAPE MEMORY EFFECT MECHANISM [14] ................................................................. 4
FIGURE 1.5 LOOP OF SUPERELASTICITY PROPERTY OF SHAPE MEMORY ALLOY [15] ........... 5
FIGURE 2.1 SINGLE DIAMOND SHAPED ARTIFICIAL MUSCLE ACTUATOR ................................ 7
FIGURE 2.2 SCHEMATIC DIAGRAM OF THE SINGLE DIAMOND ACTUATOR’S ACTUATION ... 8
FIGURE 2.3 OVERALL DESIGN OF ARTIFICIAL MUSCLE ELBOW JOINT ...................................... 9
FIGURE 2.4 TENDON DRIVEN ROTATING MOTION (LEFT : FRONT, RIGHT : BACK) ................ 10
FIGURE 2.5 ILLUSTRATION OF HUMAN ELBOW JOINT AND ROBOTIC ELBOW JOINT .......... 10
FIGURE 2.6 STRATASYS F270 3D-PRINTER [17] ................................................................................ 11
FIGURE 2.7 REINFORCEMENT BY METALLIC MATERIALS ........................................................... 11
FIGURE 3.1 ACTUATION FORCE MEASUREMENT BY THE 3-AXIS FORCE SENSOR................. 13
FIGURE 3.2 ACTUATOR CONFIGURATION POSITION ..................................................................... 14
FIGURE 3.3 INTERIOR ANGLE OF THE SINGLE DIAMOND ACTUATOR AND DOUBLE
DIAMOND ACTUATOR .................................................................................................................. 14
FIGURE 3.4 SCHEMATIC DIAGRAM OF SMA WIRE CONNECTION IN DOUBLE DIAMOND
ACTUATOR ...................................................................................................................................... 14
FIGURE 3.5 ACTUATION FORCE MEASUREMENT GRAPH ............................................................. 17
FIGURE 3.6 ACTUATION FORCE AND OFFSET LINE GRAPH (FROM THE LEFT (1), (2), (3), (4),
(5), (6)) .............................................................................................................................................. 18
FIGURE 3.7 ACTUATION FORCE AND OFFSET LINE GRAPH (FROM THE LEFT (7), (8), (9), (10),
(11), (12)) ........................................................................................................................................... 18
FIGURE 3.8 ACTUATION FORCE WITH THE POSITION AND CURRENT ...................................... 18
FIGURE 4.1 EXPERIMENT SETUP OF THE ROBOTIC ELBOW JOINT ............................................ 20
FIGURE 4.2 BALL MOVING BY THE ROBOTIC ELBOW JOINT (A) INITIAL CONFIGURATION
(B) GRIPPING THE BALL (C) LIFTING UP THE BALL (D) MOVING THE BALL TO THE
OPPOSITE SIDE ............................................................................................................................... 21
FIGURE 4.3 BALL MOVING PROCESS OF THE ROBOTIC ELBOW JOINT..................................... 22

V
 Chapter 1. Introduction

1.1 Overview

The human elbow joint rotation mechanism is actuated by four major parts: muscles, cartilage,
ligaments, and tendons. When the muscle shrink in length by 20 ~ 40% of its original length, the
tendon pulls up the lower bones. Then, the rotation occurs along the cartilage while the ligaments
hold the upper bone and lower bone not to be detached when rotating. The contraction length of
the muscles is important for the rotation of this entire mechanism. Fortunately, human muscles
can shrink in length from 20 ~ 40 %, so that arms can bend 90 degrees.

Figure 1.1 Human elbow joint and lift-up motion

However, many researchers have studied artificial muscles using ionic polymer-metal
composites (IPMCs), piezoelectric polymers (PZTs), and shape memory alloys (SMAs). IPMCs
are active actuators that show large deformation when low voltage is applied and low impedance
is exhibited [5]. They can be modeled as capacitive and resistive actuators that behave like
biological muscles and are useful in actuation as artificial muscles for biomechanics and
biomimetics applications [5,6].

1
Table 1.1. Properties of a variety of contractile materials [6]

Stress Strain Strain Rate Energy Efficiency

Class
ሺ‫܉۾ۻ‬ሻ ି૚ ૜
(%) (࢙ ሻ (ࡷࡶȀ࢓ ) (%)
Muscle 0.35 40 5 0.8 35
Piezo-electric 35 0.1 10 10 1
SMA 200 5 3 10 3
Polymer 70 2 0.1 0.4 30
Magneto Strictive 0.04 0.2 1 10 30
Electro-static 0.3 10 1 1 20

In this paper, the shape memory alloy wire was used for the actuating material and has the largest
actuation stress in company with large strain among smart materials. The actuation energy density
is provided in Figure 1.2.

Figure 1.2 Actuation energy density diagram indicating typical ranges of actuation stress,
actuation strain, and the actuation energy densities of different active materials [13]

2
1.2 Shape Memory Alloy

Shape memory alloys are a group of metal alloys that exhibit the characteristics of either large
recoverable strains or large force due to temperature and/or load changes widely used in
Softrobotics for the continuous surface actuation. [7,8] In this research, the SMA wire is used for
the longitudinal actuation.

The unique thermomechanical property of SMAs is due to the phase transformation from the
austenite phase to martensite phase and vice versa. These transformations take place due to
changes in the temperature, stress, or a combination of both. [7,8]

When the SMA wire is heated beyond the activation temperature, it contracts due to the phase
transformation from martensite to austenite as the temperature is raised using the resistive
electrical (Joule) heating. [7] Thus, the shape memory effect, which is originated from the phase
transformation, makes the actuation motion.

(‫ܯ‬௙ ǣ ‫݁ݎݑݐܽݎ݁݌݉݁ݐ݄ݏ݂݅݊݅݁ݐ݅ݏ݊݁ݐݎܽܯ‬ǡ ‫ܯ‬௦ ǣ ‫݁ݎݑݐܽݎ݁݌݉݁ݐݐݎܽݐݏ݁ݐ݅ݏ݊݁ݐݎܽܯ‬ǡ

‫ܣ‬௦ ǣ ‫݁ݎݑݐܽݎ݁݌݉݁ݐݐݎܽݐݏ݁ݐ݅݊݁ݐݏݑܣ‬ǡ ‫ܣ‬௙ ǣ ‫݁ݎݑݐܽݎ݁݌݉݁ݐ݄ݏ݂݅݊݅݁ݐ݅݊݁ݐݏݑܣ‬ሻ

Figure 1.3 SMA phase transformation process [14]

3
 Figure 1.4 Shape Memory Effect mechanism [14]

When the SMA wire is in stress-induced martensite, high temperature and compete shape
recovery transformations are observed on the material upon loading to austenite. [7] This property
is called superelasticity and used to actuate the artificial muscle. Superelasticity, sometimes called
pseudoelasticity, is an elastic (reversible) response to an applied stress caused by a phase
transformation between the austenitic and martensitic phases of a crystal. As shown in Figure 1.5,
the graph starts from Point A. When stress is induced to the SMA, it moves along from B to C
and D. At Point D, with the loading, stressed martensite phase is dominant until it recovers to the
original point through Points E and F.

4
 

Figure 1.5 Loop of superelasticity property of shape memory alloy [15]

Table 1.2 Material properties of the shape memory alloy (SMA) [16]

Parameter Description Value

Austenite (‫ܧ‬஺ ) 75 GPa

Young’s modulus
Martensite (‫ܧ‬ெ ) 28 GPa

Austenite start (ܶ஺௦ ) 68 °C

Austenite finish ሺܶ஺௙ ሻ 78 °C
Phase transformation temperature
Martensite start (ܶெ௦ ) 52 °C
Martensite finish (ܶெ௙ ) 42 °C

Specific heat capacity C 0.322 J/g°C

Maximum deformation ratio ߝ௠௔௫ 6%

5
Table 1.3 Summary of various SMA properties and their effects [26]

SMA traits Practical consequences

Material can be used as an actuator to provide force during the shape

Shape memory effect
recovery

Material can be stressed to provide large, recoverable deformations at

Pseudoelasticity
relatively constant stress levels

Hysteresis Allows for dissipation of energy during pseudo-elastic response

High actuation stress

Small component cross-sections can provide substantial forces
(150 ~ 300MPa)

High actuation strain

Small component lengths can provide substantial actuation work
(Ca. 6%)

High energy density Small amount of material required to provide substantial actuation
(Ca. 1200 J/kg) work

Difficulty in achieving high component cooling rates limits use in high

Actuation frequency
frequency applications

Energy efficiency Amount of thermal energy required for actuation is much larger than
(10 ~ 15%) mechanical work output

Table 1.4 Comparison of loading configuration for SMA actuators [26]

Loading configuration Efficiency (%) Energy density (J/kg)

Tension 1.3 446

Torsion 0.23 82

Bending 0.013 4.6

6
 Chapter 2. Design of artificial muscle elbow joint

2.1 Linear actuator

An artificial muscle elbow joint design is proposed for precise and repeated actuation. The SMA
wire is coiled up in a diamond shaped structure with 12cm length sides that contract along the
longitudinal direction when actuated. The actuator’s links generate net force in the diagonal
direction. Furthermore, slider lubricants are sprayed on the slider to make the motion smooth.

Unlike direct SMA wire arrangements, the actuator can get the required displacement by the
extra side length. Therefore, the actuator can get 2~3 times more linear displacement than direct
longitudinal connection in addition to easily stopping the actuator when the target displacement
is achieved.

This structure facilitates actuators in multiplying the force by stacking up the coiled wire
perpendicularly. In this design, the SMA wire is coiled up to 3 times for the larger force.

Displacement
ntG

SMA WireG
Diagonal LengthG
Figure 2.1 Single diamond shaped artificial muscle actuator

7


Figure 2.2 Schematic diagram of the single diamond actuator’s actuation

8
2.2 Overall design

The overall design is presented in Figure 2.3. The lower arm consists of a single diamond shaped
actuator for the higher force while the upper arm uses double diamonds for reducing the actuator
width. The tendon wire, shown in Figure 2.4, connects the actuator with the elbow part located
between two muscle actuators that fix the tendon from both sides.

As SMA wires contract and find their minimal length along the four sides, the actuator actuates
along the diagonal direction. When the actuator pulls the tendon, it finds its minimal length
between the bolt and hole as in Figure 2.4. These mechanisms generate the rotating motion.

However, the rotation angle can be adjusted by parameters like bolt and hole distance, distance
between bolt and slider’s neutral surface, and tendon wire stiffness. In this paper, the elbow joints
are designed to achieve 45 angles each.

Figure 2.3 Overall design of artificial muscle elbow joint

9


Figure 2.4 Tendon driven rotating motion (left : front, right : back)

Figure 2.5 Illustration of human elbow joint and robotic elbow joint

10
2.3 Fabrication

All parts were fabricated with a 3D-printer. Stratasys F270 was used to prototype with ABS
material.

While actuating, the SMA wire exerts up to 150 MPa and heat reaches 70ºC. The holes where
the SMA wires pass through were reinforced by metallic materials to prevent heat fracture by the
SMA wires.

Figure 2.6 Stratasys F270 3D-printer [17]

Figure 2.7 Reinforcement by metallic materials

11
Table 2.1 Fabrication specifications [17]

Information Specification

3D-printer model Stratasys F270

Material ABS (Acrylonitrile Butadiene Styrene)

Layer thickness 0.178 mm

Material density Sparse – High density

Object weight 199g (Robotic elbow joint)

Fabrication time 12 hours

12
 Chapter 3. Analysis of artificial muscle elbow joint

3.1 Actuation force measurement

Artificial muscle actuator force was measured by a 3-axis force sensor with a sensor accuracy
of 1%(0.1N) and maximum measuring force set at 250N. The actuator’s end is fixed on the surface
plate and the other side is fixed to pull the sensor. If the linear actuator pulls the tendon wire, the
bolt fixed to the sensor head is followed by the wire.

Figure 3.1 Actuation force measurement by the 3-axis force sensor

Table 3.1 3-Axis force sensor specifications [18]

Information Specification

Measuring range
-250 N ~ 250 N
(Fx, Fy, Fz)
Calibrated measuring range 100 % : 0 ~ 250 N
(Fx, Fy, Fz) 10 % : 0 ~ 25N

Threshold (N) 0.002 N

Sensitivity (%, N) 1% (0.1N)

Crosstalk (%) ≤േ2%

13
 Figure 3.2 Actuator configuration position

Figure 3.3 Interior angle of the single diamond actuator and double diamond actuator

Figure 3.4 Schematic diagram of SMA wire connection in double diamond actuator

14
 The pulling force is related to the actuator’s interior angle, shape, given electric current, SMA
wire length, and diameter. In this paper, the pulling force is measured with the interior angle,
shape, and given electric current.

Table 3.2 Actuation force measurements of the linear actuator

SMA Interior Graph

Ampere Volt Watt Force
connection Configuration angle number
(A) (V) (W) (N)
(Diameter, Length) (º) (#)

1.5 8.6 12.9 29.3 61.7 (1)

Position 1
2.0 11.2 22.4 44.4 59.4 (2)
Single diamond
1.5 8.4 12.6 16.1 48.7 (3)
Single strand Position 2
(500Ɋm, 1065PP) 2.0 11.0 22.0 19.9 46.9 (4)

1.5 8.1 12.15 6.2 42.2 (5)

Position 3
2.0 10.7 21.4 9.1 42.0 (6)

3.0 9.0 27.0 31.3 74.7 (7)

Position 1
4.0 11.9 47.6 56.3 72.9 (8)
Single diamond
3.0 8.8 26.4 14.5 68.2 (9)
Double strands Position 2
(500Ɋm, 2130mm)
4.0 11.7 46.8 18.4 66.1 (10)

3.0 8.5 25.5 5.5 66.7 (11)

Position 3
4.0 11.5 46.0 4.9 65.5 (12)
78.1
1.5 8.8 13.2 28.9 -
57.3
Position 1
83.6
2.0 11.4 22.8 50.0 -
40.3
55.8
Double diamond 1.5 8.8 13.2 16.9 -
40.1
Single strand Position 2
42.4
(500Ɋm, 1155mm) 2.0 11.4 22.8 29.5 -
40.1
40.1
1.5 8.8 13.2 10.8 -
42.3
Position 3
52.0
2.0 11.4 22.8 25.6 -
37.1

15
 The measured force data is summarized in Table 3.2 where the single strand of coiled actuator
can exert a linear force with maximum 44.4 N when 2.0A current is given. If the double strands
of the SMA wire with the same diameter were used, the force would be measured as 56.3 N at
maximum. The double diamond shape actuator can exert 50.0 N, although it is coiled up with a
single strand of SMA wire since the double diamond actuator has more efficient SMA wire paths
than a single diamond.

The SMA wire shows special properties when large stress is induced at the hinge joint, such as
superelasticity and phase transformation propagation. In this regard, the double diamond actuator
has a more efficient design than a single diamond actuator.

16
3.2 Maximum force determination

Figure 3.5 Actuation force measurement graph

As shown in the graph, the maximum force value from the data is not obvious due to the sensor
drift and the actuator’s actuation characteristics.

The graphical method was used to solve this problem, which is similar to the yield strength
determination (0.2% offset). The steepest gradient is calculated from the force data and used as a
slope of the offset line, which starts at the offset time from the steepest gradient point of the force
data. The actuation force data and offset line’s intersection point is selected as the maximum force
value.

ܱ݂݂‫ ݕ݈݁݊݅ݐ݁ݏ‬ൌ ܽሺ‫ ݔ‬െ ‫ݔ‬ଵ ሻ ൅ ‫ݕ‬ଵ

ܽ ൌ ܵ‫ܽݐܽ݀݁ܿݎ݋݂݄݁ݐ݉݋ݎ݂ݐ݊݁݅݀ܽݎ݃ݐݏ݁݌݁݁ݐ‬

‫ݔ‬ଵ ൌ ܱ‫݈݁݊݅ݐ݁ݏ݂݂݋݄݁ݐ݂݋݁ݐܽ݊݅݀ݎ݋݋ܿݔ݊݅݃݅ݎ‬

‫ݕ‬ଵ ൌ ܱ‫݈݁݊݅ݐ݁ݏ݂݂݋݄݁ݐ݂݋݁ݐܽ݊݅݀ݎ݋݋ܿݕ݊݅݃݅ݎ‬

The ‫ݔ‬ଵ and ‫ݕ‬ଵ points are determined arbitrarily considering the total actuation time and the
peak force. In determining the ‫ݔ‬ଵ and ‫ݕ‬ଵ points, the peak force of the actuator was considered
due to the phase transformation time on high stress, which is related with the phase transformation
propagation. If the peak force is high, the offset line moves to the +x direction. On the contrary,
if the peak force is low, the offset line moves to the -x direction.

17
 As shown in Figures 3.6 and 3.7, the maximum force is determined by the intersection point
from the force data and offset line.

Figure 3.6 Actuation force and offset line graph (from the left (1), (2), (3), (4), (5), (6))

Figure 3.7 Actuation force and offset line graph (from the left (7), (8), (9), (10), (11), (12))

Figure 3.8 Actuation force with the position and current

18
3.3 Actuator constant

The actuator constant is determined by referring to the motor constant. The SMA wire weighs
only 1.4g while linear motor weighs 45g, although they have almost the same actuator constant,
when comparing the two in Table 3.3. However, linear motor can adjust the actuation force and
speed by mechanical gear, which means that it is more applicable to Robotics.

‫݁ܿݎ݋ܨ‬
‫ ܣݐ݊ܽݐݏ݊݋ܿݎ݋ݐܽݑݐܿܣ‬ൌ 
ξܹܽ‫ݐݐ‬

‫ ݁ܿݎ݋ܨ‬ൌ ‫݁ܿݎ݋݂݊݋݅ݐܽݑݐܿܣ‬

ܹܽ‫ ݐݐ‬ൌ ‫ݎ݁ݓ݋݌ܿ݅ݎݐ݈ܿ݁ܧ‬

Table 3.3 Actuator comparison of various motors

Stroke
Weight Force Ampere Volt Watt Actuator
Classification speed
(g) (N) (A) (V) (W) constant
(mm/s)

Linear actuator : SMA 1.4g

44 2.0 11.2 22.4 9.29 7.5
(with frame) (100g)
40 7.56 30
Linear motor 45g 2.4 12.1 29.0
100 18.90 6
21
DC motor 230g 2.0 12.0 24.0 4.29 Very fast
(2.2 Nm)

Stepping motor 1600g (6.4 Nm) 4.0 3.88 15.5 16 Fast

19
 Chapter 4. Experiments

4.1 Experiment system

The experiment setup of the robotic elbow joint is presented in Figure 4.1. The single diamond
shaped actuator and double diamond shaped actuator were assembled for the pulling actuation of
the tendons in each direction. When the actuators pull the tendon, the elbow part makes the rotate
motion according to the design parameters. And the DC motor was installed for the yaw rotation.

Figure 4.1 Experiment setup of the robotic elbow joint

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4.1 Experiment process

The experiment process consists of four parts, as shown in Figures 4.2 and 4.3.

At the initial configuration, each of the parts is arranged in horizontal direction. When gripping
the ball, the Smart Soft Composite (SSC) gripper forms a continuous curvature surface. The single
diamond and double diamond actuators pull the tendon in each direction and the elbow part makes
the rotating motion by the tendon driven mechanism. The DC motor attached to the surface plate
rotates the robotic elbow joint to the opposite side.

Figure 4.2 Ball moving by the robotic elbow joint (a) initial configuration (b) gripping the ball
(c) lifting up the ball (d) moving the ball to the opposite side

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 (a) Initial configuration

- Each of the actuators is actuated by DC power supply

(b) Gripping the ball

- The gripping motion is achieved by Smart Soft Composite (SSC) gripper [22]

(c) Lifting up the ball

- The single diamond and double diamond actuators pull the tendon in each direction
- The elbow part makes the rotating motions by the tendon driven mechanism

(d) Moving the ball to the opposite side

- DC motor moves the robotic elbow joint to the opposite side, which is controlled by arduino

Figure 4.3 Ball moving process of the robotic elbow joint

22
 Chapter 5. Conclusion

The main purpose of this paper is to design and analyze the robotic elbow joint actuator.

- Design was focused on efficiency, repeatability, and precision.

- Analysis was focused on the actuation force.

The robotic elbow joint actuator design was newly introduced in this paper. The design aims to
rotate 90 degrees repeatedly and precisely. Furthermore, the rotation angle can be modified by the
design parameters.

The actuation forces were measured through the 3-axis force sensor. Although maximum force
was not clear on the experiment, a graphical method for determining the maximum force of the
actuator is suggested.

This actuator has many advantages compared to other artificial muscle actuators.

1. Light and simple :

- 199g, Robotic elbow joint

2. Large force :

- The actuator can exert 44.4 N with a single diamond single strand of SMA wire.

3. Repeatable and precise :

- The elbow joint can repeatedly rotate the desired 90 degrees

4. Flexible and silent :

- Actuators connected by tendon and connections between elbow joint links are flexible and silent

A robotic elbow joint using the SMA actuator is designed and analyzed in this research. Because
the connections between links are flexible and silent while actuating, the environment will be
more comfortable. In addition, the robotic elbow joint can be applied to mobile phones, electric
vehicles, and wearable robots.

23
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 ‫؃‬୉‫ٺ‬

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̛˃ତ˓˓ଝٕ ̛˃˓ଝࢷ˓

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25
Ь ࢷզɼ ࣯߭एִ ୉̛ۘ߮ଢ̖ ࠪࢇ߭ɼ ̟ࢇ؏ଯࡳԻ ܹ঵ଜִ۰ ˱Ѱ̛Е оɽ۴ ؏

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‫ੁݤ‬ए ߉ЕЬ

࣯ࡁ߭  ࢉ˓̒࡫ ୉̛ۘ߮ଢ̖ ੪ыҖչ‫ ٳ‬Ի‫ ن‬ષ͵৔

ଝ  ‫ ء‬

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