A review of shape memory alloy research, applications and opportunities

Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

https://onlinelibrary.wiley.com/doi/pdf/10.1002/adma.201707035

Soft Robotic Grippers.

Stimulus-responsive shape memory materials: A review

Origami can turn a sheet of paper into complex three-dimensional shapes, and similar folding techniques can produce structures and mechanisms. To demonstrate the application of these techniques to the fabrication of machines, we developed a crawling robot that folds itself. The robot starts as a flat sheet with embedded electronics, and transforms autonomously into a functional machine. To accomplish this, we developed shape-memory composites that fold themselves along embedded hinges. We used these composites to recreate fundamental folded patterns, derived from computational origami, that can be extrapolated to a wide range of geometries and mechanisms. This origami-inspired robot can fold itself in 4 minutes and walk away without human intervention, demonstrating the potential both for complex self-folding machines and autonomous, self-controlled assembly.

/pdf/a-method-for-building-self-folding-machines-57agl8pynh.pdf

A method for building self-folding machines

TiNi thin films have attracted much attention in recent years as intelligent and functional materials because of their unique properties. TiNi thin film based micro-actuators will become the actuator of choice in many aspects in the rapidly growing field of micro-electro-mechanical systems (MEMSs). In this review paper, some critical issues and problems in the development of TiNi thin films are discussed, including preparation and characterization considerations, residual stress and adhesion, frequency improvement, fatigue and stability, modeling of behavior as well as functionally graded or composite thin films. Comparison is made of TiNi SMA micro-actuation with other micro-actuation methods. Different types of TiNi thin film based microdevices, such as microgrippers, microswitches, microvalves and pumps, microsensors, etc. are also described and discussed.

/pdf/tini-based-thin-films-in-mems-applications-a-review-23wqos5t8n.pdf

TiNi-based thin films in MEMS applications: a review

Thin film shape memory alloys (SMAs) have the potential to become a primary actuating mechanism for mechanical devices with dimensions in the micron-to-millimeter range requiring large forces over long displacements. The work output per volume of thin film SMA microactuators exceeds that of other microactuation mechanisms such as electrostatic, magnetic, thermal bimorph, piezoelectric, and thermopneumatic, and it is possible to achieve cycling frequencies on the order of 100 Hz due to the rapid heat transfer rates associated with thin film devices. In this paper, a quantitative comparison of several microactuation schemes is made, techniques for depositing and characterizing Ni-Ti-based shape memory films are evaluated, and micromachining and design issues for SMA microactuators are discussed. The substrate curvature method is used to investigate the thermo-mechanical properties of Ni-Ti-Cu SMA films, revealing recoverable stresses up to 510 MPa, transformation temperatures above 32/spl deg/C, and hysteresis widths between 5 and 13/spl deg/C. Fatigue data shows that for small strains, applied loads up to 350 MPa can be sustained for thousands of cycles. Two micromachined shape memory-actuated devices-a microgripper and microvalve-also are presented.

Thin film shape memory alloy microactuators

Mixed-sputter deposition of Ni-Ti-Cu shape memory films

A silicon microgripper with a large gripping force, a relatively rigid structural body, and flexibility in functional design is presented. The actuation is generated by Ni-Ti-Cu shape memory alloy (SMA) films and the stress induced can deflect each side of the microgripper up to 55 {mu}m for a total gripping motion of 110 {mu}m. When fully open, the force exerted by the film corresponds to a 40 mN gripping force on the tip of the gripper.

/pdf/a-practical-microgripper-by-fine-alignment-eutectic-bonding-4falav9di5.pdf

M.A. Northrup

Papers

Thin film shape memory alloy microactuators

Mixed-sputter deposition of Ni-Ti-Cu shape memory films

A Practical Microgripper By Fine Alignment, Eutectic Bonding And Sma Actuation