Rodrigue Hugo, Wang Wei, Han Min-Woo, Kim Thomas J Y, Ahn Sung-Hoon
1 School of Mechanical Engineering, Sungkyunkwan University , Suwon, South Korea .
2 Department of Mechanical and Aerospace Engineering, Seoul National University , Seoul, South Korea .
Soft Robot. 2017 Mar;4(1):3-15. doi: 10.1089/soro.2016.0008. Epub 2017 Feb 10.
The one-dimensional deformation of shape memory alloy (SMA) wires and springs can be implemented into different types of functional structures with three-dimensional deformations. These structures can be classified based on the type of structure and how the SMA element has been implemented into the following categories: rigid mechanical joints, semi-rigid flexural hinges, SMA elements externally attached to a soft structure, and embedded into the soft structure. These structures have a wide range of properties and implementation requirements, and they have been used to produce a variety of robots with rigid and soft motions. The different research efforts to develop actuators and robots related to each type of structure are presented along with their respective strengths and weaknesses. A model is then developed to discuss the performance and applicability of SMA wires versus SMA springs for actuators with a polymeric matrix to see the effect of each type of SMA on the selection of design parameters. A comparison of the different types of structures and the applicability of different types of SMA elements for different types of structures is then presented.
形状记忆合金（SMA）丝和弹簧的一维变形可以应用于具有三维变形的不同类型功能结构中。这些结构可根据结构类型以及SMA元件的实现方式分为以下几类：刚性机械接头、半刚性挠曲铰链、外部附着于软结构的SMA元件以及嵌入软结构中的SMA元件。这些结构具有广泛的特性和实现要求，并已用于制造各种具有刚性和柔性运动的机器人。文中介绍了针对每种结构类型开发致动器和机器人的不同研究工作及其各自的优缺点。然后建立了一个模型，以讨论用于聚合物基体致动器的SMA丝与SMA弹簧的性能和适用性，从而了解每种类型的SMA对设计参数选择的影响。随后对不同类型的结构以及不同类型的SMA元件在不同类型结构中的适用性进行了比较。
