A new Adaptive Controllable shape Morphing Compliant structure with embedded Actuators and Sensors

This paper presents a new adaptive controllable shape morphing compliant structure with embedded actuators and sensors. The shape morphing structure is obtained through simultaneous synthesis of compliant mechanism topology and actuators. We improved the existing design methodology so that compliant systems without intersecting elements were obtained. By embedding actuators within the compliant structure (compliant mechanism) it is possible to develop an adaptive system. It will be shown that by embedding the Nitinol wires-SMA (shape memory alloy)-as actuators the shape morphing structure could achieve multiple shapes of its output surface. Sensors are embedded as well. It will be shown that the shape morphing compliant structure with embedded conductive foam as sensing material is able to detect external pressure and thus its surroundings. Application of the developed shape morphing structure as an adaptive compliant gripper will also be shown.

並列關鍵字

Shape morphing structure ； Compliant mechanism ； Embedded actuators ； Nitinol ； Conductive foam

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