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Oybek Valijonovich Tuyboyov,Geo-Sung Lee,Gil-Yong Lee 한국정밀공학회 2023 International Journal of Precision Engineering and Vol.10 No.5
We develop multi-mode soft composite bending actuators based on glass fiber textiles interwoven with shape memory alloy (SMA) wires and a soft matrix of polydimethylsiloxane. We describe their detailed design and fabrication. We varied the interweaving patterns of SMA wires, such that the actuators exhibit multi-mode bending behaviors. Actuators with three different bending modes were fabricated, and their performances were evaluated in terms of curvature. We varied the stiffness of glass fiber textiles and the diameters of SMA wires. Bidirectional multi-mode actuations were achieved when SMA wires of different interwoven patterns were combined with glass fiber textiles. We present prototypes of such actuators and demonstrate their actuations. Finally, we prepared gripper prototypes using these actuators; they grasped different objects according to bending mode. Our technique will aid the development of soft robotics, as well as other scientific and engineering applications.