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<p>The series elastic actuator (SEA) with fixed stiffness and pre-compression volume elastomer poses challenges in adapting to various working requirements. To tackle this issue, this research proposes a temperature-controlled shape memory alloy (SMA) actuator integrated with a variable stiffness SEA. This innovative design enables the SMA to pre-adjust its length based on external loads and changing the stiffness of the SEA elastomer, by compensating for the SMA actuator displacements to adapt to different external loads, and reduce the unfavorable effect of the elastomer on the SEA output. First, the SEA joint structure was designed, then the mathematical model of the SMA actuator and the SEA dynamics model were established. Finally, the effect of the SMA actuator output displacement on the response of the joint was investigated through MATLAB/Simulink and Adams simulation using the PID control method. The results show that the SEA elastic equivalent body stiffness can be adjusted from spring stiffness to rigidity, which in turn enhances the output performance of the system, reduces the influence of the elastic element on the system output, and improves the adaptability of the joint in different environments.</p>

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Research on variable stiffness robotic joint actuator based on shape memory alloy

  • 期刊论文

  • 发表日期：

    2025年1月31日

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  • Sunke Zhu,
  • Mingwei Liu,
  • Xu Min,
  • Shaojiang Dong

摘要

The series elastic actuator (SEA) with fixed stiffness and pre-compression volume elastomer poses challenges in adapting to various working requirements. To tackle this issue, this research proposes a temperature-controlled shape memory alloy (SMA) actuator integrated with a variable stiffness SEA. This innovative design enables the SMA to pre-adjust its length based on external loads and changing the stiffness of the SEA elastomer, by compensating for the SMA actuator displacements to adapt to different external loads, and reduce the unfavorable effect of the elastomer on the SEA output. First, the SEA joint structure was designed, then the mathematical model of the SMA actuator and the SEA dynamics model were established. Finally, the effect of the SMA actuator output displacement on the response of the joint was investigated through MATLAB/Simulink and Adams simulation using the PID control method. The results show that the SEA elastic equivalent body stiffness can be adjusted from spring stiffness to rigidity, which in turn enhances the output performance of the system, reduces the influence of the elastic element on the system output, and improves the adaptability of the joint in different environments.