Bidirectional, linear and binary, segmented antagonistic servomechanism-based shape memory alloy (SMA) actuator

A Bidirectional, Linear and Binary, Segmented Antagonistic Servomechanism-based Shape Memory Alloy (SMA) Actuator in a cross-configuration, comprising:

• a flipped F-type long tail main stroke transmitting lever;
• and
• a plurality of I-section type part-modules arranged in a closely spaced arrangement and adapted to undergo a reciprocal translation in a first direction,
• wherein the plurality of I-section type part-modules comprises:
• a plurality of segments of SMA elements,
• a S-type rigid strip, and
• a flipped S-type rigid strip, wherein the S-type rigid strip and the flipped S-type rigid strip are combined to form a I-section type structure,
• wherein the plurality of segments of the SMA elements forms a series cascading configuration through a top-side of the I-section type part-modules extending longitudinal in the first direction with adjacent cross configuration created with I-section type part-modules,
• wherein, based on a joule heating to the top-side series cascading configuration of the segments of the SMA elements beyond a phase transition temperature, the I-section type part-modules are adapted to translate the displacement at the flipped F-type long tail main stroke transmitting lever in the first direction, wherein each of the I-section type part-modules undergoes the stroke displacement with respect to the adjacent arranged I-section type part-modules, wherein, in an actuator assembly of the cross-configuration, the flipped F-type long tail main stroke transmitting lever undergoes reciprocal translation in a return direction from the first direction by the closely spaced arrangement of I-section type part-modules, wherein segments of the SMA elements form the series cascading configuration through the bottom side of the strip, extending longitudinally generally in the return direction with adjacent cross-configuration formed by the I-section type part-modules, wherein, based on a joule heating to the bottom-side series cascading configuration segments of the SMA elements beyond the phase transition temperature, the I-section type part-modules are configured to translate the displacement at the flipped F-type long tail main stroke transmitting lever in the return direction, wherein each I-section type part-modules undergoes the stroke displacement with respect to adjacent arranged I-section type part-modules, wherein the plurality of I-section type part-modules are arranged in a close tight space which comprises of a S-type and flipped S-type conducting/nonconductive rigid strips jointed with a sandwich of an insulating strip, and a plurality of segments of the SMA elements are welded tightly at the ends of the top-side and bottom-side of I-section part-module stripes, which form the link of segments of the SMA elements in series cascading arrangement along with flipped F-type long tail main stroke transmitting lever, wherein a flipped F-type long tail main stroke transmitting lever comprised of two strips jointed together with an insulating strips for electrical isolation and coupled mechanically to transfer strain during phase transformation, wherein, the loose ends of series connected segments of the SMA elements link terminate at fixed anchor point to complete the mounting, wherein the SMA Actuator further includes first ends of the top and bottom series links made of SMA elements that are connected to the both ends of the flipped F-type long tail main stroke transmitting lever and remaining last ends of top and bottom series link are connected to fixed anchor points of a main base plate.