http://rdf.ncbi.nlm.nih.gov/pubchem/patent/GB-2588965-A

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filingDate 2019-11-16^^<http://www.w3.org/2001/XMLSchema#date>
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publicationDate 2021-05-19^^<http://www.w3.org/2001/XMLSchema#date>
publicationNumber GB-2588965-A
titleOfInvention An actuator and a method of controlling thereof
abstract An actuator 10 comprises a first part 11 a second part 12, movable relative to the first. Lengths of shape memory alloy (SMA) wire 2 connect the respective parts, each length of wire, on contraction, effect movement in the second part. Included is a means for reducing abrasion of the wire when one length(s) of the actuator wire is in an unenergized state, where there may be a degree of slack. Preferably the lengths of wire are angled to, and cross, each other at a point. The abrasive reduction means may comprise a protrusion extending from one of the parts and components of the actuator towards an unenergized wire, integrally formed with the respective parts. The means may comprise a barrier between each of the wires of a coating (530, fig 5) covering the surface of a portion of wire covering only the surface at and/or in the vicinity of the crossing point, which may be either a polymer, powder, lubricant, viscous fluid or damping gel (630, fig 6). The means may comprise a shock absorber (930, fig 9). A method of control is also claimed.
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