...WonHee Kim; Brian M. Barnes; Jonathan E. Luntz; Diann E. Brei The high energy density actuation potential of shape memory alloy (SMA) wire is tempered by conservative design guidelines set to mitigate complex factors such as functional fatigue (shakedown). In addition to stroke loss, shakedown...

...Hai-Jun Su; Hafez Tari In this paper, we study the type synthesis of wire flexures to achieve orthogonal motions by using a recently developed screw theory based design approach. For a given desired mobility pattern, our goal is to find a system of wire flexures that are simply connected...

...A. Banerjee; B. Bhattacharya; A. K. Mallik For discrete actuation with shape memory alloy (SMA) wires, the actuation moment can be controlled by changing the amount of wire offset. Increasing offset not only enhances the actuating moment, but also demands larger displacement capability...

...M. Sreekumar; T. Nagarajan; M. Singaperumal Large displacement static analysis of a fully compliant spatial mechanism is presented here. This mechanism is made up of a superelastic nitinol pipe as its compliant structural member and actuated by three shape memory alloy (SMA) wires. The coupled...

... simulation and actual physical experimentation. 05 07 2007 21 08 2008 07 10 2008 compressive strength feedback linearisation techniques rods (structures) structural engineering wires Tensegrity is a concept in which a set of compressive components (rods) interacts...

... linear algebra manipulator kinematics wires actuators boundary-value problems This procedure can be carried out using exact forms of the wrench vectors, such as those given in Eq. 2 , or carried out directly using a numeric linear programming solver such as linprog in MATLAB . The more...

... description of the system’s capabilities. A two degrees-of-freedom planar mechanism is analyzed in order to illustrate the methodology. manipulator dynamics couplings wires One of the key aspects of any consideration of cable yielding, due to dynamics, concerns modeling and resolving the tension...

...Moshe Shoham A type of actuation used in ancient times, based on twisting wires, is reinvented in this paper. Twisting wires actuation was used long ago to pull heavy objects, but, to the best of the author’s knowledge, this investigation represents the first demonstration of its ability to achieve...