Development of an Antagonistically Actuated Smart Joint

Shape memory alloys with their phase transformation properties; have been broadly implemented in smart structures. In this study, a functional design is presented where two wires actuate antagonistically to achieve motion in bending. Effect of heat treatment parameters on the actuator materials is investigated. For this purpose, a novel experimental test bench appropriate for characterizing a smart joint is presented, and joint performance including actuation force and cyclic behavior are demonstrated. Accordingly, a smart joint configuration capable of 60 degrees bending with a repeatability of 50 cycles is developed.