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.
AnS-MRyuJChoM. (2012) Engineering design framework for a shape memory alloy coil spring actuator using a static two-state model. Smart Materials and Structures21(5): 055009.
2.
BenhamPPCrawfordRJArmstrongCG (1996) Mechanics of Engineering Materials. Harlow: Longman.
3.
BrinsonLC (1993) One-dimensional constitutive behavior of shape memory alloys: thermomechanical derivation with non-constant material functions and redefined martensite internal variable. Journal of Intelligent Material Systems and Structures4(2): 229–242.
4.
ChangB-CShawJAIadicolaMA (2006) Thermodynamics of shape memory alloy wire: modeling, experiments, and application. Continuum Mechanics and Thermodynamics18(1–2): 83–118.
5.
Chang-JunQPei-SunMQinY (2004) A prototype micro-wheeled-robot using SMA actuator. Sensors and Actuators A: Physical113(1): 94–99.
6.
CoralWRossiCColoradoJ. (2012) SMA-based muscle-like actuation in biologically inspired robots: a state of the art review. In: BerselliGVertechyRVassuraG (eds) Smart Actuation and Sensing Systems—Recent Advances and Future Challenges. Rijeka: InTech, pp. 53–82.
7.
GilberstonRG (2000) Muscle Wires Project Book: A Hands on Guide to Amazing Robotic Muscles That Shorten When Electrically Powered. California, USA: Mondo-Tronics.
8.
GilpinKTorres-JaraERusD (2014) Controlling closed-chain robots with compliant SMA actuators: algorithms and experiments. In: KhatibOKumarVSukhatmeG (eds) Experimental Robotics. Berlin, Heidelberg: Springer, pp. 149–163.
9.
Huai-TiLGaryGLBarryT (2011) GoQBot: a caterpillar-inspired soft-bodied rolling robot. Bioinspiration & Biomimetics6(2): 026007.
10.
IanaguiATannuriEA (2011) Modeling and control of an Antagonistic Shape Memory Alloy Actuator. In: Absi AlfaroSCMottaJMSTDe NegriVJ (eds) ABCM Symposium Series in Mechatronics (vol. 5, section VIII—Sensors & Actuators) RJ, Brazil: ABCM- Brazilian Society of Mechanical Sciences and Engineering, pp. 1268–1277.
11.
JamieKPRobertJW (2012) A bidirectional shape memory alloy folding actuator. Smart Materials and Structures21(6): 065013.
12.
JamieKPElliotHRobertJW (2010) A novel low-profile shape memory alloy torsional actuator. Smart Materials and Structures19(12): 125014.
13.
JayenderJPatelRVNikumbS. (2008) Modeling and control of shape memory alloy actuators. IEEE Transactions on Control Systems Technology16(2): 279–287.
14.
KimBLeeMGLeeYP. (2006) An earthworm-like micro robot using shape memory alloy actuator. Sensors and Actuators A: Physical125(2): 429–437.
15.
LederléS (2002) Issues in the design of shape memory alloy actuators. MS Thesis, Massachusetts Institute of Technology, Cambridge, MA.
16.
LeeD-YKohJ-SKimJ-S. (2013) Deformable-wheel robot based on soft material. International Journal of Precision Engineering and Manufacturing14(8): 1439–1445.
17.
MingyenHMcMillanABSimardJM. (2012) Toward a meso-scale SMA-actuated MRI-compatible neurosurgical robot. IEEE Transactions on Robotics28(1): 213–222.
18.
ShinDDMohanchandraKPCarmanGP (2004) High frequency actuation of thin film NiTi. Sensors and Actuators A: Physical111(2): 166–171.
19.
SongGLamPCSrivatsanTS. (2000) Application of shape memory alloy wire actuator for precision position control of a composite beam. Journal of Materials Engineering and Performance9(3): 330–333.
20.
TehYH (2008) Fast, accurate force and position control of shape memory alloy actuators. PhD Dissertation, Australian National University, Canberra, ACT, Australia.
21.
WangT-MShiZ-YLiuD. (2012) An accurately controlled antagonistic shape memory alloy actuator with self-sensing. Sensors12(6): 7682–7700.
22.
WangZHangGLiJ. (2008) A micro-robot fish with embedded SMA wire actuated flexible biomimetic fin. Sensors and Actuators A: Physical144(2): 354–360.
