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27-02-2023 | Original Paper

A helical actuator driven by biased SMA: design, model, and experiment

Authors: Kecai Xie, Chengyang Li, Shouyu Sun, Zhongjing Ren, Yong Shi, Sundeep Mangla, Chang-Yong Nam, Haipeng Wang, Peng Yan

Published in: Acta Mechanica | Issue 6/2023

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Abstract

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.

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Title: A helical actuator driven by biased SMA: design, model, and experiment
Authors: Kecai Xie
Chengyang Li
Shouyu Sun
Zhongjing Ren
Yong Shi
Sundeep Mangla
Chang-Yong Nam
Haipeng Wang
Peng Yan
Publication date: 27-02-2023
Publisher: Springer Vienna
Published in: Acta Mechanica / Issue 6/2023
Print ISSN: 0001-5970
Electronic ISSN: 1619-6937
DOI: https://doi.org/10.1007/s00707-023-03510-9

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A helical actuator driven by biased SMA: design, model, and experiment

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