C4.2 - Novel Characterisation and Modeling of the Thermal Behavior of Multi-Wire SMA Actuators for Robot Grippers
- Event
- SMSI 2025
2025-05-06 - 2025-05-08
Nürnberg - Band
- Lectures
- Chapter
- C4 - Robotics
- Author(s)
- T. M. Wendt, A. Dierle, T. Seifert, A. Schnebel - Offenburg University of Applied Sciences, Offenburg (Germany)
- Pages
- 153 - 154
- DOI
- 10.5162/SMSI2025/C4.2
- ISBN
- 978-3-910600-06-5
- Price
- free
Abstract
This study describes the behaviour of a multi-wire shape memory alloy (SMA) actuator, with the bending angle expressed as a function of the actuator surface temperature. The temperature behaviour is quantified based on data obtained from an infrared sensor, and the hysteresis behaviour of the SMA actuator is modelled applying a sigmoid function. The least squares method is employed to identify the parameters of the sigmoid function, thereby enabling the positioning of the actuator with an average deviation of 0.5°. These results provide a foundation for position control in SMA-based robotic grippers.