A lightweight bending actuator based on shape memory alloy and application to gripper

Pan, Jie; Yu, Junsheng; Li, Guoxin; Wu, Haoran; Xu, Peng

doi:10.1080/15376494.2022.2092919

Cited by 7 publications

(2 citation statements)

References 27 publications

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“…Zhang et al [16] designed a claw with bistable structure, which can be grasped by bistable transition. Currently, the main actuation methods include traditional forms of pneumatic, hydraulic and electric, as well as intelligent forms of piezoelectric [17,18], dielectric elastomers [19][20][21][22], SMAs [23][24][25][26] and magnetorheological fluids [27,28]. Among them, SMA as the intelligent material with the best memory performance among metal materials is integrated with sensing and actuation [29,30].…”

Section: Introductionmentioning

confidence: 99%

A fast actuated soft gripper based on shape memory alloy wires

Li,

Ma,

et al. 2024

Smart Mater. Struct.

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The application of shape memory alloy (SMA) actuated soft grippers is limited by their slow recovery speed. In order to further expand their application range, as one of the solutions to address this limitation, this paper proposes a fast actuated soft gripper based on shape memory alloy wire active heat dissipation and elastic rib combination to meet the rapid actuation and recovery. The structure primarily consists of a heat dissipation module capable of winding SMA wire and a soft structure resembling a scorpion tail with embedded supper elastic SMA wire. The geometric structure model, dynamics and SMA constitutive model and finite element model of the soft gripper are established, and the lateral deformation of soft bionic scorpion tail end is analyzed through simulations and experiments. In addition, the force in designed soft gripper tip and its ability to grasp different objects are also studied through experiments. The results show that the addition of a cooling fan increased the recovery rate by about 25%, and the force in soft bionic scorpion tail end can reach about 0.12 N. The designed soft gripper can successfully grasp objects with different softness, shape, size and weight. It lays a theoretical foundation and technical support for the development of soft grippers actuated by SMA in the future.

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Section: Introductionmentioning

confidence: 99%

A fast actuated soft gripper based on shape memory alloy wires

Li,

Ma,

et al. 2024

Smart Mater. Struct.

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“…A typical electric soft actuator is made of shape memory alloy (SMA), dielectric elastomer (DE), or ionic polymer-metal composite (IPMC). SMA actuators [9][10][11][12] are limited to a slow response speed. DE actuators [13,14] require high driving voltages and suffer from a lack of stability.…”

Section: Introductionmentioning

confidence: 99%

Evolution from Telescoping to Bending: An Origami-Inspired Flexible Bending Actuator

Shao

Zhao

Zuo

et al. 2023

Applied Bionics and Biomechanics

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Soft actuators have great potential in human–machine interaction and soft robotics innovation. Origami exhibiting outstanding structural and topological properties can be a paradigm for people to design various soft robots. Inspired by origami, we have previously designed a telescopic actuator with excellent performance, mainly large force output, and two-way working. Although significant advances have been made in soft bending actuators, their further study and applications are limited due to small force output in a monotonous work style. In this paper, we design a series of novel bending actuators that inherit our prior telescopic actuator’s excellent characteristics to diversify soft actuators’ motion forms. Several actuators of different sizes are fabricated using three different materials and evaluated on a designed test platform. The test results show that actuators of different sizes using different materials perform differently. Namely, the maximum tip force produced by an actuator reaches 9.6 N, and the maximum bending angle is achieved by another one up to 138°. Finally, extensive demonstrations and tests include wriggling, gripping, and bidirectional motion in the water. They show our flexible bending actuators’ distinguishing characteristics of large output force and two-way working.

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An electrostatic adsorption actuation module and its application

Li,

Ma,

et al. 2025

Sensors and Actuators A: Physical

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A lightweight bending actuator based on shape memory alloy and application to gripper

Cited by 7 publications

References 27 publications

A fast actuated soft gripper based on shape memory alloy wires

A fast actuated soft gripper based on shape memory alloy wires

Evolution from Telescoping to Bending: An Origami-Inspired Flexible Bending Actuator

An electrostatic adsorption actuation module and its application

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