Design of High-Load Actuators Based on Shape Memory Alloys

Authors

DOI:

https://doi.org/10.17979/ja-cea.2025.46.12242

Keywords:

Shape Memory Alloys, Actuator Design, Robotics, Smart Materials, Mechanical Design, Mechatronic Systems, Intelligent Actuators, Finite Element Methods

Abstract

Shape Memory Alloys (SMAs) possess strong potential for integration as actuators in robotic applications due to their high power-to-weight ratio and ability to recover their original shape after deformation. Among their various forms, SMA wires and springs are the most commonly available on the market. In this context, this work presents the design of a test bench and an actuator based on SMA wires, aimed at displacing high loads in compact environments. The study includes the mechanical and electrical characterization of Nitinol wires with diameters of 1–2 mm under different loading conditions, the iterative development of five actuator prototypes, and an evaluation through finite element analysis and experimental testing. The final actuator architecture confirms the feasibility of SMA-based systems for high-load applications up to 6000 N, offering an alternative to conventional solutions based on electric motors.

Author Biographies

  • Santiago Martínez de la Casa Díaz, Universidad Carlos III de Madrid

    My name is Santiago Martínez de la Casa Díaz (quite long ;-)) and I work in different fields of robotics and automation in the Roboticslab Research Group from the Systems Engeneering and Automation Department. Altough I actually belong to the Carlos III University, I started my studies on Industrial Engineering at the Alcala University. There, I received the degree on “Ingeniería Técnica Industrial. Esp. Electrónica y Automática”. After that, I arrived to the Carlos III University of Madrid in 2000 and I started my career in this University. First of all, I completed my studies in Industrial Engineering in 2005 and then I started to work as researcher in the I.S.A. Department. More or less at the same time, I began the PhD Program on Electric, Electronics, and Industrial Automation Engineering. I received the M.Sc. Degree on Robotics and Automation in 2010 and, finally, I completed my Ph.D. on July 2012, with the Thesis titled “Human Inspired Humanoid Robot Control Architecture” My research work and interests are related to: ROBOTICS IN CONSTRUCTION: From 2005 and during the next four years I was in charge of the 6FP EU Project ManuBuild related to automatization and robotization of construction processes. As well, I participated in the 6FP EU I3CON project in this field and other national projects like Tunconstruct, related to robotized tunnel maintenance. ASSISTIVE ROBOTICS: I participated in the development of the climbing and assistive robot ASIBOT (AKA MATS). I was awarded in the “Proyecto Final de Carrera” prize from the “Colegio Oficial de Ingenieros Industriales de Madrid”. As well, the ASIBOT development team received an Infanta Cristina Prize from the IMSERSO. HUMANOID ROBOTICS: From 2009 I was in charge of the development of the humanoid robot TEO. The postural control of the robot was the subject of my Ph.D. Thesis. Research fellowship: https://h2t.anthropomatik.kit.edu/21_1015.php

  • Dorin Copaci, Universidad Carlos III de Madrid

    Dorin Copaci obtained his Bachelor’s in Automatic Control and Systems Engineering from the Politehnica University of Bucharest, Romania in 2010, followed by a Master’s in Robotics and Automation from Carlos III University of Madrid, Spain in 2012. He received his Ph.D. in Electrical, Electronic, and Automatic Engineering from Carlos III University of Madrid in 2017. Copaci has been a member of the RoboticsLab research team since 2010, and currently holds a position as Assistant Professor in the Department of Systems Engineering and Automation at Carlos III University of Madrid. His research focuses on developing and controlling smart and soft actuators for innovative rehabilitation devices.

References

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Cartel Jornadas de Automática 2025

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Published

2025-09-01

Issue

No. 46 (2025)

Section

Robótica

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Copyright (c) 2025 Jaime González Menocal, Santiago Martínez de la Casa, Dorin Copaci

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This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.