Design and modelling of a reversible shape memory alloy torsion hinge actuator

Conventional hinge actuators often face limitations including excessive weight, large size and unpleasant noise. Shape memory alloys (SMAs) offer a solution to address these issues due to their favorable characteristics, such as lightweight, high actuation force and small form factor. However, most existing SMA-based hinge actuators rely on the tension loading mode. Achieving an ideal actuation angle thereby necessitates the inclusion of long SMA wires, which inadvertently constrains the actuator size. Notably, the full potential of SMAs' deformation capacities, encompassing torsion and bending, remains largely untapped and underutilized. In this research, a reversible torsion SMA hinge actuator is studied, which can reversibly open 60 degrees during heating and cooling. The actuator weighs 2 g, and can produce actuation forces of up to 5 N. The mechanical performances of nitinol at different temperatures are measured. Based on the measurements, a model which can predict the opening and closing angle is proposed, with deviations of 13.5 +/- 8.2 %. Gripper and butterfly demonstrators constructed by the hinge actuators are given as application examples. The actuators hold potential in many fields like soft robotics, aerospace and medical instruments.