Jiles-Atherton Based Hysteresis Identification of Shape Memory Alloy-Actuating Compliant Mechanism via Modified Particle Swarm Optimization Algorithm

Figure 6

Input-output characteristics of the SMA-based compliant actuators under a fixed duty cycle (50%) 5v PWM signal operation with 60s signal cycle producing the temperature changing between 0°C and 60°C. (a) Input voltage. (b) Input temperature. (c) Output rotation angle. (d) Hysteresis loop.

(a)

(b)

(c)

(d)