Abstract. A compliant miniature parallel manipulator made of superelastic nitinol pipe as its central pillar and actuated by three symmetrically attached shape memory alloy (SMA) wires is under development. The mobility for the platform is obtained by the selective actuation of one or two wires at a time. If one wire is actuated, the other two unactuated wires provide the counter effect. Similarly, if two wires are actuated simultaneously or in a differential manner, the third unactuated wire resists the movement of the platform. In an earlier work of the authors, the static displacement analysis was presented without considering the effect of unactuated wires. In this contribution, the force–displacement analysis is presented considering the effect of both actuated and unactuated wires. Subsequently, an attempt has been made to obtain a generalized approach from which six types of actuation methods are identified using a group of conditional parameters. Each method leads to a set of large deflection expressions suitable for a particular actuation method. As the large deflection expressions derived for the mechanism are nonlinear and involve interdependent parameters, their simplified form using a parametric approximation have also been obtained using Howell's algorithm. The generalized approach and the solution algorithm developed can be applied to any kind of compliant mechanism having large deflection capabilities, including planar and spatial MEMS devices and stability analysis of long slender columns supported by wires or cables. The procedure developed is also suitable for the static analysis of spatial compliant mechanisms actuated by multiple SMA actuators.

Print publication: Issue 11 (November 2009)
Received 27 July 2009
Published 16 October 2009