A smart soft actuator using a single shape memory alloy for twisting actuation
A smart soft actuator using a single shape memory alloy for twisting actuation
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DOI：
10.1088/0964-1726/24/12/125033
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发表时间：
2015-12-01
影响因子：
4.1
通讯作者：
Ahn, Sung-Hoon
中科院分区：
文献类型：
--
作者：
Shim, Jae-Eul;Quan, Ying-Jun;Ahn, Sung-Hoon
最近，机器人已经成为关于其功能的感兴趣的话题，因为它们需要在各种环境中完成大量不同的任务。当使用传统的机械部件时，需要许多部件来实现复杂的变形，例如电机，铰链和曲柄。为了产生复杂的变形，这项工作介绍了一种智能软复合材料扭转驱动器使用一个单一的形状记忆合金（SMA）线没有任何额外的元素。所提出的扭转致动器是由扭转预应变SMA线嵌入在聚二甲基硅氧烷矩阵的中心。其通过在SMA线的焦耳加热时施加电流而扭转。该报告显示了致动器的设计，制造方法，以及扭转角和致动力矩的结果。结果表明，较高的电流有助于更快地达到最大扭转角，但如果电流过低或过高，则无法达到其最大变形。此外，扭转角和扭转力矩的增加与一个大的扭转预应变，但这种增加有一个渐进的行为。然而，对于致动器的宽度和厚度两者的结果表明，较大的宽度和厚度减小致动器的最大致动角。本文还提出了一种SMA驱动主动导管的新机制，该机制仅使用两根总长度为170 mm的SMA丝来弯曲尖端。导管在多个方向。所制造的有源导管的最大扭转角为270度，并且。最大弯曲曲率为0.02 mm（-1）。
Recently, robots have become a topic of interest with regard to their functionality as they need to complete a large number of diverse tasks in a variety of environments. When using traditional mechanical components, many parts are needed to realize complex deformations, such as motors, hinges, and cranks. To produce complex deformations, this work introduces a smart soft composite torsional actuator using a single shape memory alloy (SMA) wire without any additional elements. The proposed twisting actuator is composed of a torsionally prestrained SMA wire embedded at the center of a polydimethylsiloxane matrix. that twists by applying an electric current upon joule heating of the SMA wire. This report shows the actuator design, fabrication method, and results for the twisting angle and actuation moment. Results show that a higher electric current helps reach the maximum twisting angle faster, but that if the current is too low or too high, it will not be able to reach its maximum deformation. Also, both the twisting angle and the twisting moment increase with a large applied twisting prestrain, but this increase has an asymptotic behavior. However, results for both the width and the thickness of the actuator show that a larger width and thickness reduce the maximum actuation angle of the actuator. This paper also presents a new mechanism for an SMA-actuated active catheter using only two SMA wires with a total length of 170 mm to bend the tip of the. catheter in multiple directions. The fabricated active catheter's maximum twisting angle is 270 degrees, and the. maximum bending curvature is 0.02 mm(-1).