Four prototypes of a flexible finger, each made up of three actuator modules based on shape memory alloy (SMA) wires, are experimentally studied in this research. A module is basically composed by few simple components: a plastic body, made of different materials, and SMA wires. The bending of the module is performed with the heating and cooling of the SMA wires and the central rod exerts bias force, necessary to the stretching of the wire to the original shape. To evaluate the actuator workspace different tests were performed, and the results of three prototypes are compared. Finally a more complex prototype in which the antagonist wires can be deactivated during the working cycle was designed and preliminary tests were performed, obtaining encouraging results.

Comparison among different modular SMA actuated flexible fingers / Maffiodo, Daniela; Raparelli, Terenziano - In: Mechanisms and Machine ScienceSTAMPA. - [s.l] : Springer Netherlands, 2019. - ISBN 978-3-030-03319-4. - pp. 324-331 [10.1007/978-3-030-03320-0_35]

Comparison among different modular SMA actuated flexible fingers

Maffiodo, Daniela;Raparelli, Terenziano
2019

Abstract

Four prototypes of a flexible finger, each made up of three actuator modules based on shape memory alloy (SMA) wires, are experimentally studied in this research. A module is basically composed by few simple components: a plastic body, made of different materials, and SMA wires. The bending of the module is performed with the heating and cooling of the SMA wires and the central rod exerts bias force, necessary to the stretching of the wire to the original shape. To evaluate the actuator workspace different tests were performed, and the results of three prototypes are compared. Finally a more complex prototype in which the antagonist wires can be deactivated during the working cycle was designed and preliminary tests were performed, obtaining encouraging results.
978-3-030-03319-4
978-3-030-03320-0
Mechanisms and Machine Science
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11583/2720195
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