期刊
MATERIALS
卷 11, 期 10, 页码 -出版社
MDPI
DOI: 10.3390/ma11102014
关键词
2 DOFs compliant joint; SMA wires in antagonistic configuration; robotics
类别
资金
- European Research Council CODIR project [268519]
- CARPE project, European Research Council Proof of Concept [665696]
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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