This research studied the optimal design of shape memory alloy (SMA) muscle wire bundle actuators. Current literature describes the use of multiple muscle wires placed in parallel to increase the lifting capabilities of an SMA actuator, which however, is limited to wires of like-diameter. A constrained optimization problem was formulated, with constraints on the maximum number of wires, voltage applied, and SMA bundle length and cross-sectional area, that explored the use of several different diameter wires for the development of an optimal SMA bundle actuator that will be able to apply maximum force. As a case study, the optimal design of SMA bundle actuators for the Rutgers robotic hand is presented.

In this paper, the application of rapid prototyping in fabricating nonassembly robotic systems is presented. Using the stereolithography apparatus SLA 190 of the Department of Mechanical and Aerospace Engineering of Rutgers University, and the selective laser sintering Sinterstation 2000 of DTM Corporation of Austin, TX, prototypes of mechanical joints were fabricated experimentally. The designs of these component joints were then used to fabricate the articulated structure of experimental prototypes for two robotic systems: (1) a three-legged parallel manipulator; (2) a four degree of freedom finger of a five-fingered robotic hand.

Describes the objectives of a project, which are to design artificial limbs that are lightweight, compact and dexterous, that mimic human anatomy and maintain a high lifting capability. The key to satisfying these objectives is the use of shape memory alloy (SMA) artificial muscles as actuators. A general methodology to find the placement of SMA wires to achieve desired ranges of motion is presented. Two experimental prototypes, emulating human skeletal structures that are actuated by SMA artificial muscles are described in detail.