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After producing a satisfactory design using MotionGEN, the geometry was copied to a custom python simulator and integrated with the finalized nitinol actuator input profile to further refine the output kinematics. Figure 7, below, shows the exact shape of the nitinol actuator input profile. The cusp points at the upper left and lower right corners are toggle points where the nitinol actuator reverses its motion. More information about the function of the nitinol actuator can be found in [LINK TO NITINOL ACTUATORManufacturing and Prototype Iterations]
Figure 7.
Nitinol actuator input profile
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