구간 분할된 형상기억합금 와이어의 동특성에 관한 연구

The research and development of an actuator are accelerating in the robotics industry. The electricity polymer and SMA actuator are designed simply and are produced a lot of forces per unit volume. Their motions are similar to human's motion, But the repeatability of the electricity polymer actuator is lower. The reaction velocity of the SMA actuator is slow and the travel is short. In this paper, the dynamic characteristic of the segmented SMA is studied. The SMA wire is divided by using the Thermo-electric module(TEM) to control each of segments independently. The MOSFET circuit is used to supply constant currents for the Thermo-electric module(TEM). The hysteresis and displacement of the SMA wire according to load are measured.