Biomimetic and unconventional robots using sub-millimeter helical NiTi shape memory alloys: Challenges in deployment and control

摘要

The subject of Robotics is undergoing paradigm shift, both in its applications and in design perspective. Also it is progressing towards inventing new mechanisms and structures. In one of the approaches, this is expected to be achieved by recreating actuators with artificial muscle by employing new materials. Bio mimicking and unconventional robots are significant because of the design aesthetics, simplicity, lower computational requirement, resilient operation and so on. Due to high power to weight ratio, simplicity in actuation and higher displacement, Shape Memory Alloy (SMA) helical springs are considered as potential choice in such systems. This paper discuss the Deployability, control and other engineering aspects of sub millimeter SMA helical springs.