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Long Shape Memory Alloy Tendon-based Soft Robotic Actuators and Implementation as a Soft Gripper.

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  • 1School of Mechanical Engineering, Sungkyunkwan University, Suwon, 16419, Republic of Korea.

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This study introduces free-sliding shape memory alloy (SMA) wires as tendons for soft actuators, significantly enhancing bending angle and force. This innovation overcomes previous limitations in SMA-based soft grippers, improving performance for various gripping tasks.

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Area of Science:

  • Robotics
  • Materials Science
  • Mechanical Engineering

Background:

  • Shape memory alloy (SMA) wire-based soft actuators traditionally suffer from limited performance due to the constrained stroke of SMA wires within polymeric matrices.
  • This constraint intrinsically couples bending angle and force, resulting in suboptimal performance for SMA-based soft grippers compared to other soft actuator technologies.

Purpose of the Study:

  • To present a novel soft actuation method using free-sliding SMA wires as tendons.
  • To overcome the performance limitations of conventional SMA actuators by decoupling matrix and wire lengths.
  • To enable compact packaging of driving SMA wires for enhanced actuator design.

Main Methods:

  • Implementation of free-sliding SMA wires as tendons within a soft actuator matrix.
  • Integration of SMA tendons into a compact module utilizing bearings for easy implementation in soft gripper configurations.
  • Development of soft grippers with three fingers configured antagonistically or triangulary.

Main Results:

  • Achieved significant increases in bending angle (up to 400°) and tip forces (0.89 N) using tendon lengths up to 350 mm.
  • Demonstrated the capability of the developed soft grippers to grip objects weighing up to 1.5 kg.
  • Measured a maximum pulling force of 30 N for the gripper, with easy installation on a robotic arm.

Conclusions:

  • The free-sliding SMA wire tendon approach effectively decouples actuator length and SMA wire length, leading to substantial improvements in bending angle and force.
  • This method allows for compact SMA wire packaging and versatile integration into various soft gripper designs.
  • The developed soft grippers exhibit robust performance, capable of handling a wide range of objects and easily integrating with robotic systems.