Skip to main content

Fabrication of 3D soft morphing structure using shape memory alloy (SMA) wire/polymer skeleton composite

Abstract

The most common method of fabricating a smart structure using a shape memory alloy (SMA) is to create an SMA-embedded structure. However, if the structure is too thick, actuation is decreased significantly. Hence, SMA-embedded structures and robots are usually thin, leaving no space for additional parts. In this research, an SMA-embedded soft morphing structure with large thickness and deformation was developed. A skeletal structure and hinges, which could amplify actuating displacement, were used to increase the overall actuation by maximizing the actuation in a specific area. Also payload of prototype is enough to lift additional weight. A prototype of the design was fabricated via rapid prototyping (RP) and casting. The performance of the prototype was evaluated, and large deformation and actuation force were demonstrated. A cell phone robot was suggested as an application, and the resulting fabricated prototype exhibited crawling actuation.

This is a preview of subscription content, access via your institution.

References

  1. [1]

    J. G. Boyd and D. C. Lagoudas, A thermodynamical constitutive model for shape memory materials. Part. I. The monolithic shape memory alloy, International Journal of Plasticity, 12(6) (1996) 805–842.

    Article  MATH  Google Scholar 

  2. [2]

    S. M. Yang, J. H. Roh, J. H. Han and I. Lee, Experimental studies on active shape control of composite structures using SMA actuators, Journal Of Intelligent Material Systems And Structures, 17 (2006) 767–777.

    Article  Google Scholar 

  3. [3]

    C. A. Rogers, Active vibration and structural acoustic control of shape memory alloy hybrid composites: Experimental results, The Journal of the Acoustical Society of America, 88(6) (1990) 2803–2811.

    Article  Google Scholar 

  4. [4]

    A. Baz, T. Chen and J. Ro, Shape control of NITINOL-reinforced composite beams, Composites: Part B, 31 (2000) 631–642.

    Article  Google Scholar 

  5. [5]

    H. Tobushi, S. Hayashi, Y. Sugimoto and K. Date, Two-way bending properties of shape memory composite with SMA and SMP, Materials, 2 (2009) 1180–1192.

    Article  Google Scholar 

  6. [6]

    B. S. Jung, M. S. Kim, Y. M. Kim, W. Y. Lee and S. H. Ahn, Fabrication of smart air intake structure using shape memory alloy wire embedded composite, Physica Scripta, IOP Publishing, 2010 (2010) T139, 014042.

    Google Scholar 

  7. [7]

    J. S Koh and K. J Cho, Omegabot: biomimetic inchworm robot using SMA coil actuator and smart composite microstructures (SCM), International Conference on Robotics and Biomimetics, December 19–23 Guilin, China (2009).

    Google Scholar 

  8. [8]

    M. S. Kim, W. S. Chu, J. H. Lee, Y. M. Kim, B. S. Jung and S. H. Ahn, Manufacturing of inchworm robot using shape memory alloy (SMA) embedded composite structure, International Journal of Precision Engineering and Manufacturing, 12(3) (2011) 565–568.

    Article  Google Scholar 

  9. [9]

    K. J. Cho, J. S. Koh, S. Kim, W. S. Chu, Y. Hong and S. H. Ahn, Review of manufacturing processes for soft biomimetic robots, International Journal of Precision Engineering and Manufacturing, 10(3) (2009) 171–181.

    Article  Google Scholar 

  10. [10]

    B. Bhandari, G. Y. Lee and S. H. Ahn, A review on IPMC material as actuators and sensors: Fabrications, characteristics and applications, International Journal of Precision Engineering and Manufacturing, The Korean Society for Precision Engineering (Korea), 13(1) (2012) 141–163.

    Article  Google Scholar 

  11. [11]

    W. S. Chu, K. T. Lee, S. H. Song, M. W. Han, J. Y. Lee, H. S. Kim, M. S. Kim, Y. J. Park, K. J. Cho and S. H. Ahn, Review of biomimetic underwater robots using smart actuators, International Journal of Precision Engineering and Manufacturing, The Korean Society for Precision Engineering (Korea), 7(13) (2012) 1281–1292.

    Article  Google Scholar 

  12. [12]

    S. H. Ahn, K. T. Lee and H. J. Kim, R, Smart soft composite: An integrated 3D soft morphing structure using bendtwist coupling of anisotropic materials, International Journal of Precision Engineering and Manufacturing, The Korean Society for Precision Engineering (Korea), 13(4) (2012) 631–634.

    MathSciNet  Article  Google Scholar 

  13. [13]

    J. H. Ryu, B. S. Jung, M. S. Kim, J. P. King, M. H. Cho and S. H. Ahn, Numerical simulation of hybrid composite shape-memory alloy wire-embedded structures, Journal of Intelligent Material Systems and Structures, SAGE Publications, 22(17) (2011) 1941–1948.

    Article  Google Scholar 

  14. [14]

    H. J. Kim, S. H. Song and S. H. Ahn, A turtle-like swimming robot using a smart soft composite (SSC) structure, Smart Materials and Structures, IOP Publishing, 22, 014007 (2013).

    Article  Google Scholar 

Download references

Author information

Affiliations

Authors

Corresponding author

Correspondence to Sung-Hoon Ahn.

Additional information

Recommended by Associate Editor Heung Soo Kim

Ji-Soo Kim was born in 1986. He received his B.S. and M.S. degree in mechanical aerospace engineering from the Seoul National University, in 2009 and 2011. His research interest is about manufacturing process and smart structure. He is now working for Samsung Techwin (2012-present).

Jang-Yeob Lee is presently M.S. candidate in School of Mechanical and Aerospace Engineering at Seoul National University in Korea. He received his B.S. degree in Department of Control & Instrumentation from Korea University in 2011. His research interest includes control of biomimetic robot and smart structure.

Kyung-Tae Lee is presently Ph.D. candidate in School of Mechanical and Aerospace Engineering at Seoul National University in Korea. He received his B.S degree in mechanical engineering and Business Management from Seoul National University in 2007. His research interest is the biomimetic of underwater creatures.

Hyung-Soo Kim is presently M.S. candidate in School of Mechanical and Aerospace Engineering at Seoul National University in Korea. He received his B.S. degree in mechanical engineering from Seoul National University in 2011. His research interest is biomimetic and artificial muscles.

Sung-Hoon Ahn is presently a professor in School of Mechanical and Aerospace Engineering at Seoul National University in Korea. He received his B.S. degree in aerospace engineering from the University of Michigan, Ann Arbor, in 1992 and his M.S. and Ph.D. degrees in aeronautics and astronautics from Stanford University in 1994 and 1997, respectively. Before joining Seoul National University, he worked as a research associate at the University of California, Berkeley (1997–2000) and an assistant professor of mechanical and aerospace engineering at Gyeongsang National University (2001–2003). His research interests include rapid prototyping, Internet-based design and manufacturing, microfabrication, nanocomposites, and design for manufacturing.

Rights and permissions

Reprints and Permissions

About this article

Cite this article

Kim, JS., Lee, JY., Lee, KT. et al. Fabrication of 3D soft morphing structure using shape memory alloy (SMA) wire/polymer skeleton composite. J Mech Sci Technol 27, 3123–3129 (2013). https://doi.org/10.1007/s12206-013-0832-1

Download citation

Keywords

  • Polymer skeleton composite
  • Robot
  • SMA
  • Soft morphing structure