ROBOTIC PULLEY SYSTEM USING SHAPE MEMORY ALLOY

Abstract

In recent years, the advancement of soft robotics and smart materials has opened new avenues for creating adaptable and energy-efficient robotic systems. Among these developments, Shape Memory Alloys (SMAs) have emerged as highly promising materials due to their ability to revert to predefined shapes upon exposure to specific thermal or electrical stimuli. This unique property makes SMAs suitable for applications requiring compact, lightweight, and versatile actuation systems, which are essential in various robotics fields, from medical devices to industrial automation. This paper presents the design, fabrication, and testing of a robotic pulley system actuated by NiTi SMA wire, with the goal of generating a force in a compact and flexible design. Unlike conventional pulley systems that rely on electric motors or hydraulic actuators, SMA-driven systems offer significant reductions in weight and noise, along with compactness in design. By leveraging the thermal-responsive nature of SMAs, the developed system demonstrates the potential for applications in robotics requiring silent actuation in constrained spaces. In this paper, we explore the integration of SMAs as the primary actuation component, detailing the fabrication process, material selection criteria, and the challenges in achieving repeatable actuation cycles. This work contributes to the field by presenting a practical approach to harnessing the capabilities of SMAs in robotic pulley systems, offering a foundation for future research into smart, miniaturized, and compact robotic actuation technologies.