Departmental Papers (MEAM)
Document Type
Conference Paper
Subject Area
GRASP
Date of this Version
3-13-2021
Publication Source
2021 IEEE International Conference on Soft Robotics (RoboSoft)
Abstract
Knitted SMA actuators provide greater actuation stroke than single-strand SMA wire actuators by leveraging its knitted structure. However, due to short-circuiting through interlacing knit loops, existing knitted SMA sheet actuators are unsuitable for joule-heating actuation when uniform contractile actuation is desired. We explore an axially symmetric tubular i-cord knitted actuator as a possible solution. The fabrication process of an i-cord knitted SMA actuator and its electrical, thermal, and mechanics models are presented. After modifying existing models for single-strand SMA wire and adjusting their parameters, the proposed electrical, thermal, and mechanics models were verified with experimental results.
Acknowledgements
Support for this project has been provided in part by NSF REU EEC-1659190 and by the GeorgiaTech Stamps President's Scholars program.
Copyright/Permission Statement
https://www.ieee.org/publications/rights/author-posting-policy.html
Keywords
shape memory alloy, knitted actuator
Recommended Citation
Kim, Christopher Y.; Chien, Athena; Tippur, Megha; and Sung, Cynthia, "Fabrication and Characterization of I-cord Knitted SMA Actuators" (2021). Departmental Papers (MEAM). 308.
https://repository.upenn.edu/meam_papers/308
Bib Tex
@conference{kim2021sma,
title = {Fabrication and characterization of I-cord knitted SMA actuators},
author = {Christopher Kim and Athena Chien and Megha Tippur and Cynthia Sung},
year = {2021},
booktitle = {IEEE International Conference on Soft Robotics (RoboSoft)}
}
Date Posted: 14 July 2021
This document has been peer reviewed.
Comments
Supplemental video: https://www.youtube.com/watch?v=Czoy5NctBtY