A Compact SMA-Driven Push–Pull Module With Precise Linear Motion

doi:10.1109/tmech.2025.3648761

A Compact SMA-Driven Push–Pull Module With Precise Linear Motion

2026-01-12

0

PRE

AI

DOI：10.1109/tmech.2025.3648761

Original

Original request for help

Save

Abstract

En 中文

Shape memory alloy (SMA) actuators have demonstrated great value in soft robotic applications; however, traditional tendon-based actuation methods suffer from hysteresis that affects control accuracy. In this article, we propose a SMA-driven push–pull module by using antagonistic actuation and rod connection, and further integrate a linear thin film potentiometer within a compact size, which can achieve precise pulling and pushing motions based on the model-based closed-loop control. The compact SMA module with a large stroke can fulfill the submillimeter position accuracy for pulling and pushing motions at varying speeds and loads. An application to a soft origami continuum robot proves that the proposed SMA module can solve the hysteresis problem, simultaneously achieving precise control of bending and contraction/expansion (RMSE <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\leq$</tex-math></inline-formula> 0.85 mm). It is also demonstrated that the SMA module can be MR-compatible and function well under MRI feedback. This study will contribute to the advancement of SMA actuators in precision motion control and soft robotic applications.

Keywords:

Motion control

origami continuum robots

shape memory alloy actuators

soft robotics

A Compact SMA-Driven Push–Pull Module With Precise Linear Motion

Abstract

Journal

Organization