Fundamentals on the Use of Shape Memory Alloys in Soft Robotics

摘要

This chapter emphasizes the importance of a mechatronic approach to the design of soft robots. When talking about shape memory alloys (SMAs), a wide family of alloys that show two main peculiar characteristics: the shape memory effect (SME) and the superelastic effect (SE), is considered. After a phenomenological introduction, the thermomechanical behavior and different modeling approaches to describe the SME are illustrated. The first part of the chapter focuses on SMAs and used as a primer on the use of the special materials. SMA actuators design principles are discussed, aiding the choice of the mechanical design needed for specific applications, followed by an overview on the most common fabrication methods. The topics illustrated in the second part are used for general purposes, but they are more focused on the use of SMA technology in soft robotics. The chapter ends with practical examples of successful coupling of soft materials with SMAs.