• 대한기계학회:학술대회논문집
• /
• 대한기계학회 2007년도 춘계학술대회A
• /
• pp.957-962
• /
• 2007

This paper describes a new mechanism for improving the force of actuators based on shape memory alloys (SMA) by increasing the number at which a coil pattern SMA spring can evenly be heated. This structure accomplishes a high efficient transformation between force and displacement overcoming the main mechanical drawback of shape memory alloys, that being the limit strain. A pantograph manipulator actuated by the introduced new mechanism has been designed for this research. Mechanical structure and driving mechanism of this manipulator are described in detail, and its control algorithm and current amplifier circuit in a position control system are designed.