Robotic modules with especial abilities may provide new opportunities in developing robotic systems. Changing the robot framework in different missions may be implemented in the modular robotic system design. Shape memory alloys (SMA) may be considered as suitable actuators with unique features. Due to the complex behavior of the SMAs less works are done on the precise modeling and positioning systems of them. Spring type SMA actuators, which are less considered in the literature, produce more deflections. In this paper a novel module with two DOFs is developed. SMA springs are employed as actuators in an embedded package including a mechanism, an electronic hardware, and a sensory system. Modeling of the spring type SMA is discussed in details using Liang and Brinson models. Simulation results are verified using an experimental setup indicating the applicability of the model in predicting the dynamic behavior of the module.

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