Design and Study of Hybrid Actuator using Smart Soft Composite and Ionic Polymer-Metal Composite

Abstract

The key advantage of soft-bodied robots over conventional hard-bodied robots is that the soft robotic limb can create smooth, organic and complex movements. Among numerous methods of actuation, smart materials with unique properties can be integrated in soft robots to achieve enhanced maneuverability and to substantially decrease body weight. Traditionally, a single material approach has been implemented to strategically accentuate and manipulate the unique properties of the target material for the intended purpose. However, the addition of a second material can alter the functionality or even augment the performance of the original single-material system. In this research, a hybrid actuator consisting of a shape memory alloy (SMA)-based smart soft composite (SSC) actuator and an ionic-polymer metal composite (IPMC) was designed and manufactured. Two actuators based on distinct materials were assembled in series, with one serving an assistive role for the other. Taguchi method was used to create an experimental design to test various parameters that affected the hybrid actuator performance. The effect of altering the parameters of the SSC control method was explored by changing the duty cycle of the PWM. Lastly, the assistive role of the IPMC was investigated by evaluating the direct effects of it on the SSC.