Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wires

Luigi Manfredi; Alfred Cuschieri

doi:10.3390/ma11102014

Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wires

Luigi Manfredi (Lead / Corresponding author)
, Alfred Cuschieri

Research output: Contribution to journal › Article › peer-review

14 Citations (Scopus)

189 Downloads (Pure)

Abstract

Shape memory alloys (SMAs) are smart materials used in robotics because of its light weight and high force-to-weight ratio. The low energy efficiency, up to 5%, has limited their use for large actuators. However, they have shown advantages in the design of mini-robots because of the limited volume required for the actuation system. The present study reports the design and construction of a mini compliant joint (MCJ) with a 2 degrees of freedom (DOFs) intersecting axis. The MCJ
prototype has a 20 mm external diameter surrounding a cavity of 8 mm, weighs 2 g, is 20 mm high and can perform an angle rotation of 30◦ in less than 260 ms. It uses SMA NiTi wires in antagonistic configuration and springs to reduce the energy consumption and minimise heat production. The design methods and experimental results of the manufactured prototype are reported and discussed.

Original language	English
Article number	2014
Pages (from-to)	1-13
Number of pages	13
Journal	Materials
Volume	11
Issue number	10
DOIs	https://doi.org/10.3390/ma11102014
Publication status	Published - 17 Oct 2018

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

Keywords

2 DOFs compliant joint
SMA wires in antagonistic configuration
robotics

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10.3390/ma11102014Licence: CC BY

Final Published VersionFinal published version, 1.5 MBLicence: CC BY

Cuschieri, Alfred
- Respiratory Medicine and Gastroenterology - Emeritus Professor
Person: Honorary

Cite this

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AB - Shape memory alloys (SMAs) are smart materials used in robotics because of its light weight and high force-to-weight ratio. The low energy efficiency, up to 5%, has limited their use for large actuators. However, they have shown advantages in the design of mini-robots because of the limited volume required for the actuation system. The present study reports the design and construction of a mini compliant joint (MCJ) with a 2 degrees of freedom (DOFs) intersecting axis. The MCJ prototype has a 20 mm external diameter surrounding a cavity of 8 mm, weighs 2 g, is 20 mm high and can perform an angle rotation of 30◦ in less than 260 ms. It uses SMA NiTi wires in antagonistic configuration and springs to reduce the energy consumption and minimise heat production. The design methods and experimental results of the manufactured prototype are reported and discussed.

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Design of a 2 DOFs Mini Hollow Joint Actuated with SMA Wires

Abstract

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Cuschieri, Alfred

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