The rotation mechanism based on an eccentric, combined with large deformations of SMA spring type actuators, allowed the design of a compact device with continuous rotation. The proposed rotary motor is driven by NiTi shape memory alloy (SMA) springs. The springs are driven by an electric current using the Joule effect as a physical principle. In this case, the motor can rotate in both directions, by only inverting the drive sequence. When driven, SMA springs combine the superelastic effect (SE) and the shape memory effect (SME), and can suffer deformations of up to 600% of their initial length. To define the design parameters, an electro-thermomechanical characterization of the SMA springs was performed, in addition to antagonistic tests to evaluate the generation of work after thermal heating. An experimental set-up measured the angular displacement, force and torque responses generated by the motor. For the numerical simulations, three different models were tested in order to define which of them best represents the behavior of force and deflection of the actuators. The most appropriate model was selected for the analyses of the static responses of the motor in rotation. The operation of the prototype was demonstrated for different driving modes, presenting results of movement, force, torque and temperature of the actuators. Numerical simulations presented a maximum error of 5.13% when compared to the experiment. The contribution of this work are numerical simulations of a rotating motor, correlated with experimental measurements. It is demonstrated that the proposed motor is in a prominent position regarding its torque/volume and torque/mass ratios when compared to other motors of the same class.

基于偏心轮的旋转机构，结合SMA弹簧型执行器的大变形，可以设计出具有连续旋转功能的紧凑型设备。提出的旋转电机由NiTi形状记忆合金（SMA）弹簧驱动。弹簧利用焦耳效应作为物理原理由电流驱动。在这种情况下，只需反转驱动顺序，电动机就可以在两个方向上旋转。在驱动时，SMA弹簧将超弹性效应（SE）和形状记忆效应（SME）结合在一起，并可能遭受高达其初始长度600％的变形。为了定义设计参数，除了进行对抗性试验以评估热加热后的功的产生之外，还对SMA弹簧进行了电热机械表征。实验装置测量了电动机产生的角位移，力和扭矩响应。对于数值模拟，测试了三个不同的模型，以定义它们中的哪一个最能代表执行器的力和挠度行为。选择了最合适的模型来分析旋转电机的静态响应。演示了原型在不同驱动模式下的操作，并给出了执行器的运动，力，扭矩和温度的结果。与实验相比，数值模拟的最大误差为5.13％。这项工作的贡献是与实验测量相关的旋转电机的数值模拟。