Shape Memory Alloy-Based Soft Finger with Changeable Bending Length Using Targeted Variable Stiffness

Wang, Wei; Yu, Chak Yuk; Serrano, Pablo Antonio Abrego; Ahn, Sung‐Hoon

doi:10.1089/soro.2018.0166

Cited by 93 publications

(50 citation statements)

References 40 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…The nature of deployable structures ensures the generation of a pushing force in contrast to other structures such as the plant tendril structure [ 1,36 ] and soft finger. [ 37 ] However, the pulling force generated by the kiri‐muscle is close to that of [ 37 ] and is lower than that of. [ 36 ]…”

Section: Discussionmentioning

confidence: 62%

Deployable‐Structure‐Based Artificial Muscles Generating Coded Forces

Yang

Deng

Niu

2021

Adv Materials Technologies

View full text Add to dashboard Cite

Here mechanical metamaterials with shape memory alloys (SMA) are assembled to create a new kind of artificial muscle driven by response to temperature changes that generates pulling, pushing, and structurally coded and sequentially coded forces. The deformation and force response of a muscle unit can be geometrically tuned, and different forces are generated with two units arranged in parallel and in series. SMA sheets with different orientations controlling different units of a muscle chain can generate programmable force responses as a mixture of pulling and pushing forces. Combining structural coding with sequential coding, a wide range of force responses can be generated with a single muscle chain. It is shown that the proposed muscles can be applied in an arm‐like mechanism to lift weights and to enable a car to cross a barrier. The principle explored in the work can be used to transform versatile origami‐ and kirigami‐based structures into multifunctional actuators for many applications that can also be based on a variety of materials other than SMA.

show abstract

Section: Discussionmentioning

confidence: 62%

Deployable‐Structure‐Based Artificial Muscles Generating Coded Forces

Yang

Deng

Niu

2021

Adv Materials Technologies

View full text Add to dashboard Cite

show abstract

“…Equation ( 1) can be rearranged into equation (2), where e 1 =e 3 =[0,1] T , e 2 =[1,0] T . ρ i is the distance from A i to O, and l i and n i are the length and the unit vector of link A i B i , respectively.…”

Section: Pose and Differential Kinematicsmentioning

confidence: 99%

“…For example, in robots with soft fingers, the ability of grasping objects with different weight and hardness can be enhanced by adjusting the properties of the finger material. 1,2 In rehabilitation robots, the safety of human-robot interaction has been improved by means of variable stiffness mechanisms. 3,4 In industry, collaborative robots are combined with control strategies and variable stiffness components to improve the robustness and safety of manufacturing and assembly processes.…”

Section: Introductionmentioning

confidence: 99%

Natural frequency modulation of a kinematically redundant planar parallel robot

Xie

Zhang

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

When a parallel robot is equipped with kinematic redundancy, it has sufficient capabilities of natural frequency modulation through adjusting geometric configuration. To reduce resonance of a mechanism, this paper investigates the natural frequency modulation of a kinematically redundant planar parallel robot. A double-threshold searching method is proposed for controlling the inverse kinematics solution and keeping the natural frequencies away from the excitation frequency. The effectiveness of modulating the natural frequencies is demonstrated by comparing it with a non-modulation method. The simulation results indicate that, in all directions, the responses are coupled, and every order should be taken into consideration during natural frequency modulation. Compared to the non-modulation method, the proposed method can reduce the resonance amplitude to a certain extent, and the effect of vibration suppression is remarkable.

show abstract

“…Researchers have therefore investigated various methods to integrate bending length adjustment in bending actuators. Stiffness-tunable mechanisms, using shape memory polymer (Wang et al, 2019), SMA (Kim et al, 2018), and low melting point alloy (Chautems et al, 2017) have been employed to adjust the bending length of a bending actuator by selectively stiffening parts of it. However, this only allows bending length adjustment in a discrete manner, depending on the location and number of stiffening elements integrated in the actuator.…”

Section: Introductionmentioning

confidence: 99%

Design, modeling and evaluation of a millimeter-scale SMA bending actuator with variable length

Chen

Ding

Kim

et al. 2021

Journal of Intelligent Material Systems and Structures

View full text Add to dashboard Cite

Millimeter-scale continuum bending actuators are useful in minimally invasive surgery to allow distal visualization and manipulation outside the line of sight. This paper presents a new continuum bending actuator based on shape memory alloy (SMA) with variable bending length. It consists of two SMA wires antagonistically configured to produce bidirectional bending under Joule heating. A linearly actuated rigid tube along the longitudinal axis enables continuous bending length adjustment, thus enhancing its workspace and force range. The proposed fabrication method tackles the challenging assembly tasks of maintaining the antagonistic configuration of long SMA wires, and robust electrical and mechanical connection during actuation. A quasi-static model of the actuator based on beam model and SMA constitutive model is presented and verified. The bending actuator was evaluated comprehensively for its workspace, blocked force, and trajectory tracking capability at different bending lengths and under different cooling conditions. It is the first work that demonstrates real-time continuous bending length adjustment in SMA-based bending actuator, leading to the potential development of compact and compliant robotic end effectors with improved distal workspace and force.

show abstract

Shape Memory Alloy-Based Soft Finger with Changeable Bending Length Using Targeted Variable Stiffness

Cited by 93 publications

References 40 publications

Deployable‐Structure‐Based Artificial Muscles Generating Coded Forces

Deployable‐Structure‐Based Artificial Muscles Generating Coded Forces

Natural frequency modulation of a kinematically redundant planar parallel robot

Design, modeling and evaluation of a millimeter-scale SMA bending actuator with variable length

Contact Info

Product

Resources

About