Design of Variable Stiffness Soft Actuator Driven by Shape Memory Alloy

被引：0
|
作者：
Ren X. [1 ]
Yang S. [1 ]
Wen H. [1 ]
Jin D. [1 ]
机构：
[1] State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing
来源：
Zhendong Ceshi Yu Zhenduan/Journal of Vibration, Measurement and Diagnosis | 2023年 / 43卷 / 06期
关键词：
constitutive model; shape memory alloy; soft actuator; variable stiffness;
D O I：
10.16450/j.cnki.issn.1004-6801.2023.06.017
中图分类号：
学科分类号：
摘要：
The soft gripper exhibits high adaptability when grasping a target. In order to achieve the lightweight design while ensuring capacity of grasping and carrying，the shape memory alloy（SMA）wire is utilized as the actuation source in the paper. The phase transformation characteristics of shape memory alloys are applied to perform the variable stiffness task of a soft actuator. The one-dimensional constitutive model of the shape memory alloy is established to construct the theoretical model of the bending angle of the actuator. In addition，the deformation test for shape memory alloy is carried out. Obtained results show that the theoretical model can reflect the actual bended angle. Moreover，when the SMA wire for variable stiffness is heated，the load-bearing capacity of the actuator is notably improved. © 2023 Nanjing University of Aeronautics an Astronautics. All rights reserved.
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页码：1164 / 1168and1246
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