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TableĀ 3 Experimental results of the SMA

From: Intelligent Modularized Reconfigurable Mechanisms for Robots: Development and Experiment

Initial force (N) Final force (N) Elongation (mm) Voltage (V) Current (A) Shrinking time (s) Recovery time (s)
10.2 15.0 6.0 1.4 1.0 18 20
10.2 15.3 6.0 1.6 1.2 14 18
10.2 16.0 6.0 2.0 1.5 9 16
15.3 22.0 7.0 1.3 1.0 20 20
15.3 22.4 7.0 1.6 1.2 14 16
15.3 23.0 7.0 2.0 1.5 8 12
20.0 26.5 7.1 1.4 1.0 16 22
20.0 27.0 7.0 1.6 1.2 12 18
20.0 28.0 7.0 2.0 1.5 10 14
25.0 35.1 7.0 1.4 1.0 14 20
25.0 36.2 7.0 1.6 1.2 10 16
25.0 38.8 7.0 2.0 1.5 7 12