Curved shape memory alloy-based soft actuators and application to soft gripper
Curved shape memory alloy-based soft actuators and application to soft gripper
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DOI：
10.1016/j.compstruct.2017.05.056
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发表时间：
2017-09-15
影响因子：
6.3
通讯作者：
Ahn, Sung-Hoon
中科院分区：
文献类型：
--
作者：
Rodrigue, Hugo;Wang, Wei;Ahn, Sung-Hoon
基于形状记忆合金（SMA）的软执行器的性能很大程度上取决于执行器横截面的配置。本文介绍了一种通过双铸件制造的基于形状记忆合金的弯曲弯曲致动器。弯曲执行器能够在与直执行器相同的横截面配置下实现更大的最大弯曲角度，并且本文提出的设计方法和铸造方法对于此类执行器来说都是新颖的。测试了由于致动器曲率和不均匀初始曲率引起的初始弯曲角度对最大弯曲角度的影响。使用基于 SMA 热本构模型的模型以及执行器变形的几何分析来估计初始曲率对执行器最大弯曲角度的影响。最后，将多个弯曲执行器实现为简单的抓手，并比较了直执行器和弯曲执行器的举升力，弯曲抓手的举升力比直抓手大近三倍。此类概念可用于定制 SMA 执行器的力、变形形状和最大变形。 (C) 2017 Elsevier Ltd. 保留所有权利。
The performance of shape-memory alloy (SMA)-based soft actuators depends largely on the configuration of the cross-section of the actuator. A shape memory alloy-based curved bending actuator manufactured by double casting is introduced in this work. Curved actuators are capable of larger maximum bending angles with the same cross-section configuration as a straight actuator, and both the design method and the casting method proposed in this work are novel for this type of actuator. The effect of the initial bending angle due to the curvature of the actuator and of non-uniform initial curvatures on the maximum bending angle was tested. A model based on the thermoconstitutive model of SMA with a geometrical analysis of the deformation of the actuator was used to estimate the effect of the initial curvature on the maximum bending angle of the actuator. Finally, multiple curved actuators were implemented as a simple gripper and the lifting force of straight and curved actuators were compared, and the curved gripper has a lifting force nearly three times larger than the straight gripper. This type of concept can be used to tailor the force, deformed shape and maximum deformation of SMA actuators. (C) 2017 Elsevier Ltd. All rights reserved.