TY - JOUR
T1 - A helical actuator driven by biased SMA
T2 - design, model, and experiment
AU - Xie, Kecai
AU - Li, Chengyang
AU - Sun, Shouyu
AU - Ren, Zhongjing
AU - Shi, Yong
AU - Mangla, Sundeep
AU - Nam, Chang Yong
AU - Wang, Haipeng
AU - Yan, Peng
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive licence to Springer-Verlag GmbH Austria, part of Springer Nature.
PY - 2023
Y1 - 2023
N2 - A helical actuator driven by biased shape memory alloy (SMA) patterns embedded into a soft composite ribbon base is presented in this work. Instead of common U-shape SMA wires, a single SMA wire is woven into planar patterns, which enable helical deformation of the composite ribbon from an initially flat geometry. An analytical static model is established for accurate and rapid prediction of the helical reconfiguration arising from the shape memory effect of woven SMA patterns, followed by validation of the static model using the finite element method (FEM). The finite element results are compared with the analytical solutions given by this static model, which show a high agreement. Parametric study of the influences of eight independent design variables on the dependent helical parameters, such as combined curvatures, pitches, and helical angles, is completed. It is found that the helically deformed geometry is mainly dominated by diameters, biased positions, inclined angles, and numbers of skewed segments of the SMA wire. Fabrication and in-situ experimental test of a prototype of such helical actuators qualitatively demonstrate its dramatic three-dimensional (3D) spiral reconfiguration from a two-dimensional (2D) flat ribbon. Such SMA patterns will allow more diverse designs of soft actuators for a wider range of robotic applications.
AB - A helical actuator driven by biased shape memory alloy (SMA) patterns embedded into a soft composite ribbon base is presented in this work. Instead of common U-shape SMA wires, a single SMA wire is woven into planar patterns, which enable helical deformation of the composite ribbon from an initially flat geometry. An analytical static model is established for accurate and rapid prediction of the helical reconfiguration arising from the shape memory effect of woven SMA patterns, followed by validation of the static model using the finite element method (FEM). The finite element results are compared with the analytical solutions given by this static model, which show a high agreement. Parametric study of the influences of eight independent design variables on the dependent helical parameters, such as combined curvatures, pitches, and helical angles, is completed. It is found that the helically deformed geometry is mainly dominated by diameters, biased positions, inclined angles, and numbers of skewed segments of the SMA wire. Fabrication and in-situ experimental test of a prototype of such helical actuators qualitatively demonstrate its dramatic three-dimensional (3D) spiral reconfiguration from a two-dimensional (2D) flat ribbon. Such SMA patterns will allow more diverse designs of soft actuators for a wider range of robotic applications.
UR - http://www.scopus.com/inward/record.url?scp=85148940215&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85148940215&partnerID=8YFLogxK
U2 - 10.1007/s00707-023-03510-9
DO - 10.1007/s00707-023-03510-9
M3 - Article
AN - SCOPUS:85148940215
SN - 0001-5970
JO - Acta Mechanica
JF - Acta Mechanica
ER -