Motion Principle and Experimental Research on a Swing Joint Differential Driven by Shape Memory Alloy

摘要

A kind of shape memory alloy (SMA) differential drive method and its experiment equipment can be used in swing joint of a micro amphibious robot is presented. According to its motion character, motion principle of the swing joint differential driven by SMA is analyzed. The basic thermodynamic performance of the SMA springs with different structural parameters is researched by experimentation. Aiming at the SMA differential actuator composed by SMA springs in different structural parameters, experimental research and analysis on the response ability of the SMA actuator is carried out in various driving condition and environment, which can be used to provide experimental base and data support for applying SMA drive technique in propulsive area of underwater vehicles.