Shape memory alloys (SMAs) are a type of smart materials that reacts mechanically to heat. Due to their complex behavior, they are often used in a simple geometry such as wires. This constrains the output displacement of the alloy to a simple linear contraction of the wire. When a different output displacement is desired, the SMA is coupled to a mechanism that transforms the motion, degrading the compactness of the whole system. To alleviate such issues, we propose fabricating, directly in SMA, a compliant mechanism that performs complex output motions and thus improves integration. The first part of this paper presents a method to design such systems. When coupled with a bias-spring and a heating system, these mechanisms form a full actuator. The conventional heating system relies on Joules losses coming from direct electric conduction through the alloy. However, now that the SMA has a complex shape, passing a current through it becomes an arduous task requiring multiple electrodes making the system cumbersome and deteriorating its integrability. Magnetic induction heating is proposed to tackle this limitation, heating the mechanism without contact and conserving a compact actuator.

形状记忆合金 (SMA) 是一种对热产生机械反应的智能材料。由于它们的复杂行为，它们通常用于简单的几何图形，例如电线。这将合金的输出位移限制为线的简单线性收缩。当需要不同的输出位移时，SMA 会与转换运动的机构耦合，从而降低整个系统的紧凑性。为了缓解这些问题，我们建议直接在 SMA 中制造一种执行复杂输出运动的柔性机构，从而提高集成度。本文的第一部分介绍了一种设计此类系统的方法。当与偏置弹簧和加热系统结合使用时，这些机构形成了一个完整的执行器。传统的加热系统依赖于通过合金直接导电产生的焦耳损失。然而，既然 SMA 具有复杂的形状，让电流通过它成为一项艰巨的任务，需要多个电极，这使得系统变得笨重并降低其可集成性。提出了磁感应加热来解决这个限制，在无接触的情况下加热机构并保存紧凑的执行器。