Journal
JOURNAL OF INTELLIGENT MATERIAL SYSTEMS AND STRUCTURES
Volume 27, Issue 12, Pages 1658-1665Publisher
SAGE PUBLICATIONS LTD
DOI: 10.1177/1045389X15600084
Keywords
Characterization; shape memory alloy wire; soft robot; torsional actuator
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Funding
- Basic Science Research Program through the National Research Foundation of Korea (NRF) - Ministry of Science, ICT and Future Planning [2012R1A1A1011457]
- National Research Foundation of Korea [2012R1A1A1011457] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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In this study, novel modular shape memory alloy wire-based torsional actuators were designed and fabricated. These shape memory alloy-based actuators provide rotational displacements. The mechanical and thermal properties of a single module shape memory alloy torsional actuator were characterized. Next, a modular shape memory alloy torsional actuator was configured by connecting single actuator modules in series. This modular actuator can be used directly as a soft or biologically inspired robot. Finally, the rolling motion and shape transformation of the modular shape memory alloy torsional actuator (soft robot) were demonstrated with a simple open-loop-based control scheme experimentally validating the novel mobility and actuation of the proposed actuator. For a control input, sequentially coordinated square waves of electric current were supplied to the shape memory alloy actuating units.
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