On the soft origami robots with shape memory alloys artificial muscles

Authors

  • Ligia Munteanu Institute of Solid Mechanics of the Romanian Academy, Bucharest, Romania
  • Veturia Chiroiu Institute of Solid Mechanics of the Romanian Academy, Bucharest, Romania
  • Cornel Crisan Technical University of Cluj-Napoca, Cluj-Napoca, Romania
  • Cristian Rugina Institute of Solid Mechanics of the Romanian Academy, Bucharest, Romania
  • Valeria Mosnegutu Institute of Solid Mechanics of the Romanian Academy, Bucharest, Romania

Keywords:

Origami soft robots, Shape memory alloys (SMA), Bouc-Wen model, Surgery

Abstract

Folding in nature allows development of complex structures such as flowers, insect wings, proteins and intestines. The origami robots can be obtained from folding the elastomer foils and by embedding the shape memory alloys (SMAs) elements. The SMA artificial muscles have the role of producing the fast motion. The hardening effect corresponding to the smooth hysteretic behaviour of SMA artificial muscle is investigated together to the actuation and the force performance by using a Bouc-Wen model coupled to the intrinsic time which governs the behavior of the SMAs. The soft robots can offer a good opportunity for drug delivery and minimally-invasive surgical procedures.

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Published

2020-03-20

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