BISPHENOL-A BASED SHAPE MEMORY POLYMER FOR SOFT ROBOTIC GRIPPER APPLICATIONS
S. Jayalath1, M. Herath2, J. Epaarachchi3 and S. Patel4
1,2,3,4Univeristy of Southern Queensland, Australia, 1Institute of Technology University of Moratuwa, Sri Lanka, 2University of Hull, United Kingdom
Session: Technical Session B
Abstract
Shape Memory Polymers (SMPs) are considered smart materials due to the continuous development of their applications in space, aerospace, construction, and biomedical fields. SMPs can be fabricated like other polymers, taking different complex shapes and having the ability to program them into another shape. This ability has made them ideal candidates, especially in soft robotics. This research develops a soft robotic gripper using an actuator made with epoxy-based SMP that can be fully activated using heat at 135.7°C. The SMP for the gripper mechanism was designed using Bisphenol-A based epoxy and m-Xylylenediamine. It was observed that the SMP gripping mechanism could apply a maximum force of 5 N to grip a spherical object adequately. These SMP actuators can be further enhanced to develop soft robotic devices that facilitate a wider range of engineering and biomedical applications such as invasive medical surgeries, nano-electromechanical systems (NEMS) and micro-electromechanical systems (MEMS) manufacturing.
Keywords: force sensitive resistor, shape memory polymer, soft robotic actuator, thermomechanical characteristics
DOI: 10.64752/WOGY7807